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Research on Visual Servo Grasping of Household Objects for Nonholonomic Mobile Manipulator
Joint Authors
Xie, Huangsheng
Li, Guodong
Wang, Yuexin
Fu, Zhihe
Zhou, Fengyu
Source
Journal of Control Science and Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-09-23
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
This paper focuses on the problem of visual servo grasping of household objects for nonholonomic mobile manipulator.
Firstly, a new kind of artificial object mark based on QR (Quick Response) Code is designed, which can be affixed to the surface of household objects.
Secondly, after summarizing the vision-based autonomous mobile manipulation system as a generalized manipulator, the generalized manipulator’s kinematic model is established, the analytical inverse kinematic solutions of the generalized manipulator are acquired, and a novel active vision based camera calibration method is proposed to determine the hand-eye relationship.
Finally, a visual servo switching control law is designed to control the service robot to finish object grasping operation.
Experimental results show that QR Code-based artificial object mark can overcome the difficulties brought by household objects’ variety and operation complexity, and the proposed visual servo scheme makes it possible for service robot to grasp and deliver objects efficiently.
American Psychological Association (APA)
Xie, Huangsheng& Li, Guodong& Wang, Yuexin& Fu, Zhihe& Zhou, Fengyu. 2014. Research on Visual Servo Grasping of Household Objects for Nonholonomic Mobile Manipulator. Journal of Control Science and Engineering،Vol. 2014, no. 2014, pp.1-13.
https://search.emarefa.net/detail/BIM-1040190
Modern Language Association (MLA)
Xie, Huangsheng…[et al.]. Research on Visual Servo Grasping of Household Objects for Nonholonomic Mobile Manipulator. Journal of Control Science and Engineering No. 2014 (2014), pp.1-13.
https://search.emarefa.net/detail/BIM-1040190
American Medical Association (AMA)
Xie, Huangsheng& Li, Guodong& Wang, Yuexin& Fu, Zhihe& Zhou, Fengyu. Research on Visual Servo Grasping of Household Objects for Nonholonomic Mobile Manipulator. Journal of Control Science and Engineering. 2014. Vol. 2014, no. 2014, pp.1-13.
https://search.emarefa.net/detail/BIM-1040190
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1040190