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篇名
Method and System Design for Industrial Robots to Grip Stacked and Disorder Parts Under 3D Visual Guidance
並列篇名
Method and System Design for Industrial Robots to Grip Stacked and Disorder Parts Under 3D Visual Guidance
作者 Qing-Chuan Liu (Qing-Chuan Liu)Jian Gao (Jian Gao)Rui Fan (Rui Fan)Jun-Xia Cui (Jun-Xia Cui)Wei-Min Liu (Wei-Min Liu)
英文摘要

With the production of bulk parts and a large number of assembly scenarios, most parts are stacked in an unordered manner. This article focuses on the accurate grasping of parts in an assembly line under the guidance of binocular vision. Firstly, based on production needs, this article designs a robot grasping system based on binocular vision, and describes the selection of key equipment such as cameras and robotic arms in the system. Then, in order to achieve the recognition of stacked parts, analysis and research were conducted on point cloud data extraction, point cloud feature recognition, point cloud registration, and part pose estimation in the recognition process. Finally, through the construction of a simulation system, the recognition of stacked parts was achieved, and the recognition accuracy was improved.

 

起訖頁 207-224
關鍵詞 p3D visionindustrial robotpart grabbingpose estimation
刊名 電腦學刊  
期數 202408 (35:4期)
該期刊-上一篇 Lithium Battery Shell Mould Design and Process Parameter Optimization Method Based on Digital Technology
該期刊-下一篇 Path Planning Method for Stacking Parts of Industrial Robots Guided by 3D Vision
 

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