Vision Planning for Grasping of Unknown 3D Objects

Name: Vision Planning for Grasping of Unknown 3D Objects
Brand: VDM Verlag Dr. Müller
SKU: 9783639111149
Price: 50.78 EUR
Availability: InStock

Minimal Vision Planning for Grasping of Unknown 3-Dimensional Objects using a Two-fingered Parallel-Jawed Gripper

Автор: Grant Deffenbaugh

Език:

Корици: С меки корици

Издател: VDM Verlag Dr. Müller

Наличност: Налично при издателя, по поръчка

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Vision planners used for grasping attempt to either§recognize or reconstruct the object to be graspe...

Информация за книгата

Автор

Grant Deffenbaugh

Език

Английски език

Корици

Книга - С меки корици

Издадена

2009

страници

112

EAN

9783639111149

Enbook ID

06820022

Издател

VDM Verlag Dr. Müller

Теглоt

183

Размери

150 x 220 x 7

Пълно описание

Vision planners used for grasping attempt to either§recognize or reconstruct the object to be grasped.§Recognition systems, while needing only a few images,§have difficulty with unknown objects, and§reconstruction systems, while being able to grasp§unknown objects, require several images to construct§a CAD level model of the object. By incorporating the§grasp planner with the view planner, a system is§developed that can grasp unknown three-dimensional§objects while generally requiring only a few images. §§A system using off-the-shelf components without§relying upon structured light, lasers, or a stereo§camera system is proposed. As the surface of the§object is being modeled, a grasp plan is formulated§for an antipodal grasp. The position for the next§best view is determined by the view location that§will most likely acquire the missing information§required to a stable grasp.§§The minimal view criteria for grasping an object are§given and it is shown that any shape can be held by a§compliant two-fingered parallel-jawed gripper. Using§the view criteria and view planning system it is§possible to predict the number of required views§necessary to plan a stable grasp of a given object.

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Vision Planning for Grasping of Unknown 3D Objects

Minimal Vision Planning for Grasping of Unknown 3-Dimensional Objects using a Two-fingered Parallel-Jawed Gripper

Информация за книгата

Пълно описание

Може също да ви хареса

Клиенти, които купиха тази книга, купиха също