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Part shape information acquisition based on stereoscopic vision
Gu JN(顾寄南); Chen SJ(陈四杰); Shen, BaoGuo
Department机器人学研究室
Conference Name3rd International Conference on Computer-Aided Design, Manufacturing, Modeling and Simulation, CDMMS 2013
Conference DateSeptember 21-23, 2013
Conference PlaceChongqing, China
Author of SourceNational Natural Science Foundation of China (NSFC); Provincial Natural Science Foundation of Hunan; Provincial Science and Technology plan project of Hunan
Source PublicationApplied Mechanics and Materials
PublisherTrans Tech Publications Ltd,
Publication PlaceZurich-Durnten, Switzerland
2013
Pages472-475
Indexed ByEI
EI Accession number20134616980584
Contribution Rank1
ISSN1660-9336
ISBN978-3-03785-901-8
KeywordComputer Aided Design Computer Simulation Computer Vision Edge Detection
AbstractA clamping robot serving for several NC machines can recognize the best fit in manny blank parts. Forthermore, the shape information acquisition and pose measurment can be achieved by its computer vision system. The key question is that the clamping robot automatively choices the best fit part by statistical result of geometric dimension of all parts. The best fit part is the one that its length and its diameter are mostly proximate to the processing requirement. This choice method can save staff, reduce working allowance, and lessen finished cost. According to the shape information and position information, the robot can confirm the grab order, grab angle and finger joint distance. Firstly, the part image is smoothing by noise reduction technology, secondly, the feature points are extracted. The feature points present the information of the location of the mass center, the dip angle and diameter. Finally, the clamping robot can grab the most fit bar part by means of rotational motion, rectilinear motion, and finger open-close movement when the shape information and location information of the bar part have been confirmed. © (2014) Trans Tech Publications, Switzerland.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/13922
Collection机器人学研究室
Recommended Citation
GB/T 7714
Gu JN,Chen SJ,Shen, BaoGuo. Part shape information acquisition based on stereoscopic vision[C]//National Natural Science Foundation of China (NSFC); Provincial Natural Science Foundation of Hunan; Provincial Science and Technology plan project of Hunan. Zurich-Durnten, Switzerland:Trans Tech Publications Ltd,,2013:472-475.
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