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双手爪爬杆机器人对杆件的位姿检测与自主抓夹 被引量：10

Pole Pose Measurement and Autonomous Grasping with a Biped Climbing Robot
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摘要 为实现5自由度平面构型的双手爪爬杆机器人Climbot对目标杆件的自主抓夹,提出一种基于2D激光扫描测距仪的杆件位姿检测和自主抓夹方法.首先根据Climbot的平面构型,给出了机器人在两圆杆间过渡时的特殊位姿约束条件.再摆动夹持器使得安装在上面的激光传感器可以用扫描的方式获取目标杆件上若干中心点位置,并将其拟合出杆件的空间直线方程,即杆件位姿.并基于直线方程,规划出了满足过渡约束条件的自主抓夹运动.最后通过实验分析了杆件中心点位置的检测误差,以及所求杆件位姿相对于实际杆件和Climbot夹持器坐标系的角度误差.相对于杆件尺寸以及夹持器张合度,上述误差均可接受.本文方法能够准确地检测目标杆件的位置信息,并给出合理的抓夹运动规划. In order to achieve autonomous grasping of the target pole for a 5 degree of freedom biped climbing robot Climbot with planar structure, a method for pole measurement and autonomous grasping based on a 2D scanning laser range finder （sLRF） is proposed. Firstly, the special pose constraint conditions that Climbot transits from one pole to another are listed according to the planar structure. Then, several central points of the pole are measured with a scanning motion of the sLRF mounted on the swinging gripper. Using these points, the linear equation of the pole is fitted, and the pole pose is obtained. Autonomous grasping motion satisfying the transit constraints is planned based on the linear equation. Finally, the central points＇ measurement errors are analyzed by experiments, and also the pole pose＇s angle errors relative to the real pole and the frame of Climbot＇s end gripper. The errors are acceptable comparing with the pole size and the open size of gripper. It is shown that the proposed method can accurately measure the position of the target pole, and the planned grasping motion is reasonable.
作者 胡杰 管贻生 吴品弘 苏满佳 张宏
机构地区 华南理工大学机械与汽车工程学院 广东工业大学机电工程学院 阿尔伯塔大学计算机科学系
出处 《机器人》 EI CSCD 北大核心 2014年第5期569-575,共7页 Robot
基金 广东省自然科学基金重点项目(S2013020012797)
关键词 爬杆机器人 杆件位姿检测 自主抓夹 2D激光扫描测距仪 pole-climbing robot pole pose measurement autonomous grasping 2D scanning laser range finder
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
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参考文献11

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二级参考文献12

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2014年 第5期

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