Research on Target Grasping of Autonomous Mobile Operation Platform

摘要：

In order to extend the application area of robot, by combining the features of the autonomous mobile platform and the flexible operation of manipulator, an autonomous mobile operation platform is built. The platform is composed of an autonomous mobile platform and a manipulator. The general control model is serialization, and the feedback control based on the vision information is used in some parts. The monocular vision is presented for target identification and location, and the precision of information fulfills the needs of grasping operation. Based on the geometrical relations, the inverse kinematics of manipulator is resolved, and the space tracks of joints are planned. The experiment result proves the validity of this platform.

关键词： autonomous mobile operation platform monocular vision agent manipulator target grasping.

作者: Haitao Song Guoliang Zhang Bin Jing Yuan Pu

作者单位: The Second Artillery Engineering College,Xian 710025,China The Second Artillery Petty Officer School Qingzhou 262500,China

会议类型: 国际会议

会议名称: 2009 9th International Conference on Electronic Measurement & Instruments(第九届电子测量与仪器国际会议 ICEMI2009)

会议地点: 北京

会议语种:英文

页码: 4094-4097

在线出版日期: 2009-08-16（万方平台首次上网日期，不代表论文的发表时间）