Industry 4.0 demands the heavy usage of robotic mobile manipulators with high autonomy and intelligence. The goal is to accomplish dexterous manipulation tasks without prior knowledge of the object status in unstructured environments. It is important for the mobile manipulator to recognize and detect the objects, determine manipulation pose, and adjust its pose in the workspace fast and accurately. In this research, we developed a stereo vision algorithm for the object pose estimation using point cloud data from multiple stereo vision systems. An improved iterative closest point algorithm method is developed for the pose estimation. With the pose input, algorithms and several criteria are studied for the robot to select and adjust its pose by maximizing its manipulability on a given manipulation task. The performance of each technical module and the complete robotic system is finally shown by the virtual robot in the simulator and real robot in experiments. This study demonstrates a setup of autonomous mobile manipulator for various flexible manufacturing and logistical scenarios.


    Access

    Download


    Export, share and cite



    Title :

    Dexterous Grasping by Manipulability Selection for Mobile Manipulator with Visual Guidance



    Publication date :

    2019-01-01



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




    Dexterous manipulator flight demonstration

    Carter, Edward L. | NTRS | 1989


    Development of a dexterous dual-arm omnidirectional mobile manipulator

    Suárez Feijóo, Raúl / Palomo Avellaneda, Leopold / Martínez Miralles, Jordi Ramon et al. | BASE | 2018

    Free access

    Research on robot dexterous grasping for aerospace product parts

    Xinyu, Li / Que, Dong / Lijian, Zhang et al. | IEEE | 2021


    Integrating Perception and Optimization for Dexterous Grasping and Manipulation

    Deng, Zhen / Universität Hamburg / Universität Hamburg, Fakultät für Mathematik, Informatik und Naturwissenschaften et al. | TIBKAT | 2019