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Sensors 2017, 17(2), 334;

Monocular-Based 6-Degree of Freedom Pose Estimation Technology for Robotic Intelligent Grasping Systems

State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin 300072, China
Author to whom correspondence should be addressed.
Academic Editor: Vittorio M. N. Passaro
Received: 2 January 2017 / Revised: 22 January 2017 / Accepted: 28 January 2017 / Published: 14 February 2017
(This article belongs to the Section Physical Sensors)
PDF [2061 KB, uploaded 15 February 2017]


Industrial robots are expected to undertake ever more advanced tasks in the modern manufacturing industry, such as intelligent grasping, in which robots should be capable of recognizing the position and orientation of a part before grasping it. In this paper, a monocular-based 6-degree of freedom (DOF) pose estimation technology to enable robots to grasp large-size parts at informal poses is proposed. A camera was mounted on the robot end-flange and oriented to measure several featured points on the part before the robot moved to grasp it. In order to estimate the part pose, a nonlinear optimization model based on the camera object space collinearity error in different poses is established, and the initial iteration value is estimated with the differential transformation. Measuring poses of the camera are optimized based on uncertainty analysis. Also, the principle of the robotic intelligent grasping system was developed, with which the robot could adjust its pose to grasp the part. In experimental tests, the part poses estimated with the method described in this paper were compared with those produced by a laser tracker, and results show the RMS angle and position error are about 0.0228° and 0.4603 mm. Robotic intelligent grasping tests were also successfully performed in the experiments. View Full-Text
Keywords: monocular; industrial robot; intelligent grasping; pose estimation monocular; industrial robot; intelligent grasping; pose estimation

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Liu, T.; Guo, Y.; Yang, S.; Yin, S.; Zhu, J. Monocular-Based 6-Degree of Freedom Pose Estimation Technology for Robotic Intelligent Grasping Systems. Sensors 2017, 17, 334.

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