An occlusion prediction algorithm for visual servoing tasks in a multi-arm robotic cell
An occlusion prediction algorithm for visual servoing tasks in a multi-arm robotic cell
复制标题
多臂机器人单元中视觉伺服任务的遮挡预测算法
DOI：
10.1109/cira.2005.1554364
复制
发表时间：
2005
期刊：
影响因子：
--
通讯作者：
L. Villani
中科院分区：
文献类型：
--
作者：
V. Lippiello;B. Siciliano;L. Villani
本文提出了一种新的方法来预测机器人系统执行视觉伺服任务的视觉遮挡。被认为是一个多臂机器人细胞配备了多摄像头眼到手的视觉系统的情况下。所提出的方法是能够预测的自我闭塞，以及相互闭塞所造成的机器人链接和工具。该算法是基于一个BSP树方面的细胞的几何表示，假设的CAD几何形状的对象和多臂机器人系统的运动学模型是已知的。实验结果的情况下，两个工业机器人执行视觉引导抓取任务。
This paper presents a new approach to the prediction of visual occlusions for a robotic system performing visual servoing tasks. The case of a multi-arm robotic cell equipped with a multi-camera eye-to-hand visual system is considered. The proposed approach is able to predict the self occlusions as well as the mutual occlusions caused by the robot links and tools. The algorithm is based on the geometric representation of the cell in terms of a BSP tree, assuming that the CAD geometry of the objects and the kinematic model of the multi-arm robotic system are known. Experimental results are presented for the case of two industrial robots performing a vision-guided grasping task.