Vision-guided robotic grasping: issues and experiments
Vision-guided robotic grasping: issues and experiments
复制标题
视觉引导机器人抓取：问题和实验
DOI：
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发表时间：
1996
期刊：
影响因子：
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通讯作者：
N. Papanikolopoulos
中科院分区：
文献类型：
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作者：
Christopher E. Smith;N. Papanikolopoulos
许多研究人员已经转向传感，特别是计算机视觉，以创建更灵活的机器人系统。通常需要计算机视觉来提供用于抓取目标的数据。使用视觉系统进行抓取提出了关于感测、控制和系统配置的几个问题。本文提出了一些这些问题与研究人员的选择和权衡时，预期整合的视觉系统与机器人系统的目的是抓住物体。本文包括实验结果，从一个特定的配置，其特征的类型和频率的错误，同时执行各种视觉引导的抓取任务。这些错误类别及其发生频率有助于深入了解视觉抓取过程中遇到的问题以及这些问题的可能解决方案。
Many researchers have turned to sensing, and in particular computer vision, to create more flexible robotic systems. Computer vision is often required to provide data for the grasping of a target. Using a vision system for grasping presents several issues with respect to sensing, control, and system configuration. This paper presents some of these issues in concert with the options available to the researcher and the trade-offs to be expected when integrating a vision system with a robotic system for the purpose of grasping objects. The paper includes experimental results from a particular configuration that characterize the type and frequency of errors encountered while performing various vision-guided grasping tasks. These error classes and their frequency of occurrence lend insight into the problems encountered during visual grasping and into the possible solution of these problems.