面向平面放置物体的姿态调整与抓取方法

A Grasping Method for Pose Adjustment of Planar Placed Objects

针对机械臂抓取过程中物体平面放置时可抓取边大于手爪宽度而无法直接进行抓取的问题,提出了一种通过其他物体协助的姿态调整方法,通过对目标物体的姿态调整以满足机械臂抓取的要求,最后通过抓取姿态的生成和选择实现机械臂对平面放置物体和空间物体的抓取。通过抓取实验表明,所提出的方法可以对平面放置的不可抓取的物体进行姿态调整后再进行抓取,实现对空间物体93%的抓取成功率,对于平面放置轻量物体95%的姿态调整成功率。

For the problem that the grasping edge is larger than the width of the gripper when the object is placed on the plane during the grasping,a pose adjustment method with the assistance of other objects is proposed in this paper.By adjusting the pose of the target object to meet the grasping requirements of the mechanical arm.Through the generation and selection of the grasping pose,the mechanical arm can grasp the objects placed on the plane and space objects.The grasping experiment shows that the proposed method can grasp ungrasping objects placed on the plane after the pose adjustment,achieving a 93%success rate of grasping space objects and a 95%success rate of adjusting the pose of lightweight objects placed on the plane.