Robot grasping detection technology based on 3D structured light

Changzhi Yu; Lianxin Zhang; Dongsheng Chen; Niannian Chen

doi:10.1117/12.2666573

27 January 2023 Robot grasping detection technology based on 3D structured light

Changzhi Yu, Lianxin Zhang, Dongsheng Chen, Niannian Chen

Proceedings Volume 12550, International Conference on Optical and Photonic Engineering (icOPEN 2022); 1255002 (2023) https://doi.org/10.1117/12.2666573
Event: International Conference on Optical and Photonic Engineering (icOPEN 2022), 2022, ONLINE, China

Abstract

With the development of robot technology, automatic assembly technology based on industrial robots has been greatly applied. Considering the high-precision automatic grasping of heterogeneous products, robot grasping detection technology is put forward. Although the current method of using camera is relatively mature, it is greatly affected by the ambient light and the surface material of the object, resulting in the limited versatility. Since the 3D structured light method based on the laser scanning galvanometer has the characteristics of high speed and high accuracy, strong environmental adaptability and weak influence by the surface material of the object, the structured light equipment using laser scanning galvanometer was installed at the end of the robot to realize the grasping detection of the products. Through hand eye calibration, point cloud acquisition, point cloud processing, point cloud matching and other links, the point cloud collection and accurate matching of local features are realized. The experiment shows that the grasping detection accuracy is less than 0.32mm. It can not only achieve accurate grasping of different products, but also has the characteristics of strong adaptability to surface materials, environmental lighting, and high accuracy.

Citation Download Citation

Changzhi Yu, Lianxin Zhang, Dongsheng Chen, and Niannian Chen "Robot grasping detection technology based on 3D structured light", Proc. SPIE 12550, International Conference on Optical and Photonic Engineering (icOPEN 2022), 1255002 (27 January 2023); https://doi.org/10.1117/12.2666573

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available