WORK-PIECE PRECISE GRASPING BY IMAGE FUSION PROCESSING AND ULTRASONIC RANGE MEASUREMENT

摘要

The center pointer and pose of work piece are given by image processing and are transformed to the robot coordinate by a simple and high precise mapping algorithm. The depth of work piece is obtained by ultrasonic range measurement. The data fusion of center pointer , pose and depth of the work piece and the control input vector of robot is computed out. The robot movement is precisely controlled by the control input vector and work piece is precisely grasped. The low error of image processing and high precision of depth measurement ensure that the grasping is highly precise.