Object Grasping Instructions to Support Robot by Laser Beam One Drag Operations
Object Grasping Instructions to Support Robot by Laser Beam One Drag Operations
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DOI：
10.20965/jrm.2021.p0756
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发表时间：
2021
期刊：
影响因子：
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通讯作者：
Momonosuke Shintani;Y. Fukui;Kosuke Morioka;Kenji Ishihata;S. Iwaki;Tetsushi Ikeda;T. Lüth
中科院分区：
文献类型：
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作者：
Momonosuke Shintani;Y. Fukui;Kosuke Morioka;Kenji Ishihata;S. Iwaki;Tetsushi Ikeda;T. Lüth
我们提出了一个系统，在该系统中，用户可以直观地指示机器人抓手的位置和姿态简单地跟踪对象的把握部分表面与一个行程（一个拖动）的激光束。建议的系统使用的“真实的世界点击器（RWC）”，我们已经开发了较早，一个系统能够获得高精度的三维坐标值的激光光斑上的一个真实的对象通过鼠标操作的飞行时间（TOF）激光传感器安装在云台致动器。抓取点由激光拖动轨迹指定为抓取部分的平面区域的质心。通过选择与PC鼠标左键和右键单击按钮相对应的左右拖动模式来指定夹持器姿态。通过这样做，我们实现了一个抓取指令界面，用户可以考虑到各种物理条件的对象，环境和抓手。我们通过测量多个测试对象对各种日常使用项目的抓握指令时间，对所提出的系统进行了实验评估。
We propose a system in which users can intuitively instruct the robot gripper’s positions and attitudes simply by tracing the object’s grasp part surface with one stroke (one drag) of the laser beam. The proposed system makes use of the “real world clicker (RWC)” we have developed earlier, a system capable of obtaining with high accuracy the three-dimensional coordinate values of laser spots on a real object by mouse-operating the time-of-flight (TOF) laser sensor installed on the pan-tilt actuator. The grasping point is specified as the centroid of the grasp part’s plane region by the laser drag trajectory. The gripper attitude is specified by selecting the left and right drag modes that correspond to the PC mouse’s left and right click buttons. By doing so, we realize a grasping instruction interface where users can take into account various physical conditions for the objects, environments, and grippers. We experimentally evaluated the proposed system by measuring the grasping instruction time of multiple test subjects for various daily use items.