教師資料查詢 | 類別: 期刊論文 | 教師: 翁慶昌 Wong Ching-chang (瀏覽個人網頁)

標題:Manipulator System Designs for Drawing Random Objects through Point Cloud Posture Estimation
學年
學期
出版(發表)日期2021/03/29
作品名稱Manipulator System Designs for Drawing Random Objects through Point Cloud Posture Estimation
作品名稱(其他語言)
著者Ching-Chang Wong; Hsuan.Ming Feng; Yu-Cheng Lai,; Hsiang-Yun Chen
單位
出版者
著錄名稱、卷期、頁數Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture p.1-18
摘要This paper designed a 7-DOF redundant robot manipulator that can flexibly and efficiently pick-up random objects. The developed 7-DOF machine with an additional redundancy achieved great progress in terms of flexibility and efficiency in the operational space. A robot operating system (ROS) was used to configure the manipulator system’s software modules, supporting convenient system interface, appropriate movement control policy, and powerful hardware device management for better regulation of the manipulator’s motions. A 3D type Point Cloud Library (PCL) was utilized to perform a novel point cloud image pre-processing method that did not only reduce the point cloud number but also maintained the original quality. The results of the experiment showed that the estimation speed in object detection and recognition procedure improved significantly.

The redundant robot manipulator architecture with the two-stage search algorithm was able to find the optimal null space. Suitable parameters in D-H transformation of forward kinematics were selected to efficiently control and position the manipulator in the right posture. Meanwhile, the reverse kinematics estimated all angles of the joints through the known manipulator position, orientation, and redundancy. Finally, motion panning implementation of manipulator rapidly and successfully reached the random object position and automatically drew it up to approximate the desired target.
關鍵字Manipulator system;point cloud;robot operating system;drawing random objects;image segmentation
語言英文(美國)
ISSN
期刊性質國外
收錄於SCI;
產學合作
通訊作者
審稿制度
國別英國
公開徵稿
出版型式,電子版
相關連結
SDGs
  • 優質教育,產業創新與基礎設施
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