信阳师范学院学报（自然科学版）2024，Vol.37Issue(2)：234-239,6.DOI:10.3969/j.issn.1003-0972.2024.02.016
一种基于流形的机械臂动作构型知识压缩表达方法
A Compacted Representation Method of Action Configuration Knowledge for a Robotic Arm Based on Manifold
摘要
Abstract
Aiming at the problems of different shape/size of objects with high cost on robotic arm sorting task,a manifold-based fast sorting method for a robotic arm was proposed.A simple experimental device was designed and used to simulate the experiment instead of the robotic arm.The manifold space of similar objects with different size was segmented and the stable point set was wrapped in the form of a convex hull by compressing the high dimensional data and combining it with the fast convex hull solving algorithm.The experimental results showed that the highly stable manifold subspaces of similar objects of different size were consistent.By scaling down the manifold substructure of an object,the proposed method could obtain a highly stable sorting region for similar objects of different sizes.It could be used to generate an efficient and reliable robotic arm 6D pose configuration for sorting tasks,and to effectively improve the working efficiency of the sorting operation.关键词
机械臂/分拣任务/三维凸包/快速凸包法/流形空间Key words
robotic arm/sorting task/3D convex hull/quick hull algorithm/manifold space分类
计算机与自动化引用本文复制引用
高军礼,贺梓涛,宋海涛,李忠娟..一种基于流形的机械臂动作构型知识压缩表达方法[J].信阳师范学院学报（自然科学版）,2024,37(2):234-239,6.基金项目
国家自然科学基金项目(62376101) （62376101）
广州市基础研究计划市校(院)联合项目(2023A03J0279) （院）
