Moment invariant-based multi-target recognition and grasping for robot manipulator

Author

Duan, Suolin ; Chen, Lanping ; Ma, Zhenghua ; Yang, Zhongyao

Author_Institution

Dept. of Autom., Jiangsu Polytech. Univ., Changzhou, China

fYear

2010

Firstpage

1000

Lastpage

1005

Abstract

A moment Invariant-Based multi-target recognition and grasping method aimed to the visual servoing control for robot manipulator is presented. The recognizing for the assigned target objective among the multi-targets is realized by using the image region segment technique, features set composed of 7 moment invariants and Euclidean distance measurement. The grasping recognized target objective is completed with the method of position-based visual servoing control. The experimental study is done on a GB-400 4 DOFs robot manipulator by using the proposed method and its effectiveness is verified.

Keywords

feature extraction; image segmentation; manipulators; object recognition; visual servoing; Euclidean distance measurement; features set; grasping method; image segmentation; moment invariant; multi-target recognition; robot manipulator; visual servoing control; Automation; Grasping; Image segmentation; Manipulators; Target recognition; Visual servoing; Features Set Composed of Moment Invariant; Moment Invariant; Multi-target Recognition and Grasping for Robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation (WCICA), 2010 8th World Congress on

Conference_Location

Jinan

Print_ISBN

978-1-4244-6712-9

Type

conf

DOI

10.1109/WCICA.2010.5554595

Filename

5554595