Grasping a polyhedron using an eye-in-hand robot

MawKae Hor; Yi-ping Huang

doi:10.1117/12.217449

28 August 1995 Grasping a polyhedron using an eye-in-hand robot

MawKae Hor, Yi-ping Huang

Proceedings Volume 2620, International Conference on Intelligent Manufacturing; (1995) https://doi.org/10.1117/12.217449
Event: International Conference on Intelligent Manufacturing, 1995, Wuhan, China

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.

Citation Download Citation

MawKae Hor and Yi-ping Huang "Grasping a polyhedron using an eye-in-hand robot", Proc. SPIE 2620, International Conference on Intelligent Manufacturing, (28 August 1995); https://doi.org/10.1117/12.217449

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