Robot Stereo-hand Coordination for Grasping Curved Parts

摘要

In this paper we present an algorithm to compute set-point (i.e. a position to be reached by the robot) automatically from conic features virtually placed by an operator onto the object. We then use a visual servoing algorithm to guide the gripper to its final position. We have tested this algorithm in trying to open a valve with a 6 degree of freedom robot arm, using only visual information and without any model of the valve. 1 Introduction Grasping is one of the most common tasks in robotics and telemanipulation. But it is also one of the most difficult to accomplish when operating on objects of unknown shape and size in hazardous or remote environments. Although this task is crucial for many applications (space exploration, nuclear plants inspection, etc.), few systems are able to operate with sufficient flexibility and reliability in complex situations. The difficulties are twofold. First, to grasp an object implies to select a grasp (a relationship between the gripper and the obj...