A circular feature-based pose measurement method for metal part grasping
A circular feature-based pose measurement method for metal part grasping
复制标题
一种基于圆形特征的金属零件抓取位姿测量方法
DOI：
10.1088/1361-6501/aa87ea
复制
发表时间：
2017
影响因子：
2.4
通讯作者：
Zhao Xinyue
中科院分区：
文献类型：
--
作者：
Wu Chenrui;He Zaixing;Zhang Shuyou;Zhao Xinyue
抓取轴承和法兰等圆形金属零件是工业中常见的任务。由于纹理度低、特征重复等限制，基于点特征的方法不适用于这类零件的位姿测量。在本文中，我们提出了一种新的姿态测量方法，抓取圆形金属零件。该方法是基于锥退化，并涉及单目相机。为了提高测量精度，提出了一种基于位置的视觉伺服方法，实现了对六自由度机械臂的连续控制。通过定义一个固定的虚拟坐标系，解决了控制过程中零件坐标系的不确定性。实验结果验证了该方法的有效性，并分析了影响测量精度的因素。
The grasping of circular metal parts such as bearings and flanges is a common task in industry. Limited by low texture and repeated features, the point-feature-based method is not applicable in pose measurement of these parts. In this paper, we propose a novel pose measurement method for grasping circular metal parts. This method is based on cone degradation and involves a monocular camera. To achieve higher measurement accuracy, a position-based visual servoing method is presented to continuously control an eye-in-hand, six-degrees-of-freedom robot arm to grasp the part. The uncertainty of the part's coordinate frame during the control process is solved by defining a fixed virtual coordinate frame. Experimental results are provided to illustrate the effectiveness of the proposed method and the factors that affect measurement accuracy are analyzed.