Vision-Based Grasp Planning and Experiments of a Mobile Manipulator

Journal of Robotics, Networking and Artificial Life (JRNAL)

关键词: Mobile manipulation;    visual servoing;    visual navigation;    robot grasping;   

DOI  :  10.2991/jrnal.2015.1.4.3

来源: DOAJ

【 摘 要 】

In this paper, a motion planner is designed and implemented for of a mobile manipulator to travel to a spot for grasping of an object. In this work, the probability of successful grasping inside the workspace of the robot arm is used for grasping planning. A vision SLAM system is combined with reachability calculation to figure out the grasping position. Using a laboratory dual-arm robot, we conducted experiments in different conditions to verify the effectiveness of the developed system.

【 授权许可】

Unknown