文章基本信息

标题：Embedded Vision-Based Autonomous Move-to-Grasp Approach for a Mobile Manipulator
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作者：Jile Jiao ; Shuguang Ye ; Zhiqiang Cao 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2012
卷号：9
DOI：10.5772/53276
语种：English
出版社：SAGE Publications
摘要：This paper proposes a vision-based autonomous move-to-grasp approach for a compact mobile manipulator under some low and small environments. The visual information of specified object with a radial symbol and an overhead colour block is extracted from two CMOS cameras in an embedded way. Furthermore, the mobile platform and the postures of the manipulator are adjusted continuously by vision-based control, which drives the mobile manipulator approaching the object. When the mobile manipulator is sufficiently close to the object, only the manipulator moves to grasp the object based on the incremental movement with its head end centre of the end-effector conforming to a Bezier curve. The effectiveness of the proposed approach is verified by experiments.
关键词：Mobile manipulator; Embedded vision; Move-to-grasp; Bezier curve