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다중 RGB Depth 카메라 및 합성곱 신경망을 이용한 6축 매니퓰레이터의 파지 알고리즘에 관한 연구
감지웅(Ji-Woong Kam),옥승호(Seung-Ho Ok) 한국정보기술학회 2021 한국정보기술학회논문지 Vol.19 No.3
In this paper, we propose a gripping algorithm for a 6-axis manipulator using two RGB depth cameras and a convolutional neural network (CNN). The proposed algorithm infers and locates an object through an RGB depth camera located in the working space, and then grasps the object through an RGB depth camera mounted on the manipulators end-effector. Then, by calculating the rotation angle and direction of the object, a gripping position is searched and a pick-and-place operation is performed. As a result of the experiments, the proposed algorithm showed that the gripping and pick-and-place motion were normally performed according to the shape of the object when a previously learned rectangular box and cylindrical object were detected.