High-precision six-degree-of-freedom pose measurement and grasping system for large-size object based on binocular vision

doi:10.1108/SR-05-2019-0123

CORC > 自动化研究所 > 中国科学院自动化研究所 > 精密感知与控制研究中心 > 精密感知与控制

	High-precision six-degree-of-freedom pose measurement and grasping system for large-size object based on binocular vision
	Wan, Guoyang 1; Li, Fudong 2; Zhu, Wenjun 3; Wang, Guofeng 1
刊名	SENSOR REVIEW
	2020-01-13
页码	10
关键词	Industrial robot Binocular vision Coordinate transformation Hand-eye calibration Pose measurement
ISSN号	0260-2288
DOI	10.1108/SR-05-2019-0123
通讯作者	Wan, Guoyang(704610266@qq.com)
英文摘要	Purpose The positioning and grasping of large-size objects have always had problems of low positioning accuracy, slow grasping speed and high application cost compared with ordinary small parts tasks. This paper aims to propose and implement a binocular vision-guided grasping system for large-size object with industrial robot. Design/methodology/approach To guide the industrial robot to grasp the object with high position and pose accuracy, this study measures the pose of the object by extracting and reconstructing three non-collinear feature points on it. To improve the precision and the robustness of the pose measuring, a coarse-to-fine positioning strategy is proposed. First, a coarse but stable feature is chosen to locate the object in the image and provide initial regions for the fine features. Second, three circular holes are chosen to be the fine features whose centers are extracted with a robust ellipse fitting strategy and thus determine the precise pose and position of the object. Findings Experimental results show that the proposed system has achieved high robustness and high positioning accuracy of -1 mm and pose accuracy of -0.5 degree. Originality/value It is a high accuracy method that can be used for industrial robot vision-guided and grasp location.
WOS研究方向	Instruments & Instrumentation
语种	英语
出版者	EMERALD GROUP PUBLISHING LTD
WOS记录号	WOS:000511413600001
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/28580]
专题	精密感知与控制研究中心_精密感知与控制
通讯作者	Wan, Guoyang
作者单位	1.Dalian Maritime Univ, Dept Informat Sci & Technol, Dalian, Peoples R China 2.Yangzhou Univ, Coll Informat Engn, Yangzhou, Jiangsu, Peoples R China 3.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China
推荐引用方式 GB/T 7714	Wan, Guoyang,Li, Fudong,Zhu, Wenjun,et al. High-precision six-degree-of-freedom pose measurement and grasping system for large-size object based on binocular vision[J]. SENSOR REVIEW,2020:10.
APA	Wan, Guoyang,Li, Fudong,Zhu, Wenjun,&Wang, Guofeng.(2020).High-precision six-degree-of-freedom pose measurement and grasping system for large-size object based on binocular vision.SENSOR REVIEW,10.
MLA	Wan, Guoyang,et al."High-precision six-degree-of-freedom pose measurement and grasping system for large-size object based on binocular vision".SENSOR REVIEW (2020):10.