湖南大学学报（自然科学版）2012，Vol.39Issue(12)：50-55,6.
基于多传感器融合的抓取控制研究
Research on Grasping Control Based on Multi-sensor Fusion
摘要
Abstract
The location precision by binocular camera sensitive to environment is not high, thus the grasping success rate and robustness are not sound in the existing grasping system. And in order to overcome this problem, this paper proposed a method of fusing vision of infrared sensors, tactile sensors and encoders, which can realize a reliable, robust system capable of adjusting grip force automatically. In order to avoid the situation of grasping-nothing, binocular camera coupled with monocular camera and infrared sensors were used to locate precisely. By integrating tactile sensors and encoders, and adding monitoring force and position information in the process of grasping, the phenomena of broken and slippage of the object were reduced to a great extent. The experiments demonstrate that the grasping success rate and the system performance are greatly improved by fusing multi-sensor data compared with signal sensor.关键词
传感器数据融合/抓取/力-位置控制/粒子群算法/ROS (Robot Operating System)Key words
sensor data fusion/grasping/force -position control/PSO algorithm/ROS分类
信息技术与安全科学引用本文复制引用
谭建豪,宋彩霞,张俊,胡颖..基于多传感器融合的抓取控制研究[J].湖南大学学报（自然科学版）,2012,39(12):50-55,6.基金项目
中国科学院知识创新工程重要方向项目(KGCXZ-YW-128) （KGCXZ-YW-128）
