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Proceedings Paper

Grasping a polyhedron using an eye-in-hand robot
Author(s): MawKae Hor; Yi-ping Huang
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Paper Abstract

In this paper, we propose a strategy for controlling a six DOF eye-in-hand robot manipulator to grasp a non-model-based polyhedron. A pair of suitable grasping components can be determined from the 2D images observed by a CCD camera. A grasping target point and an approach vector are calculated to direct the gripper approaches to the object. The Kalman filter techniques are used to estimate the relative position between the object and the gripper. This information is then used to determine the new target of the robot for the next control cycle. A heuristic is used to compute the joint 6 motion in order to get the best result for the Kalman filter estimation. The robot grasps the object when the gripper approaches the object close enough. Experimental results are also discussed.

Paper Details

Date Published: 28 August 1995
PDF: 8 pages
Proc. SPIE 2620, International Conference on Intelligent Manufacturing, (28 August 1995); doi: 10.1117/12.217449
Show Author Affiliations
MawKae Hor, Institute of Information Science (China)
Yi-ping Huang, Institute of Information Science (China)

Published in SPIE Proceedings Vol. 2620:
International Conference on Intelligent Manufacturing
Shuzi Yang; Ji Zhou; Cheng-Gang Li, Editor(s)

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