Embedded Vision-Based Autonomous Move-to-Grasp Approach for a Mobile Manipulator

Jile Jiao, Shuguang Ye, Zhiqiang Cao, Nong Gu, Xilong Liu, Min Tan
2012 International Journal of Advanced Robotic Systems  
This paper proposes a vision-based autonomous move-to-grasp approach for a compact mobile manipulator under some low and small environments. The visual information of specified object with a radial symbol and an overhead colour block is extracted from two CMOS cameras in an embedded way. Furthermore, the mobile platform and the postures of the manipulator are adjusted continuously by vision-based control, which drives the mobile manipulator approaching the object. When the mobile manipulator is
more » ... sufficiently close to the object, only the manipulator moves to grasp the object based on the incremental movement with its head end centre of the endeffector conforming to a Bezier curve. The effectiveness of the proposed approach is verified by experiments.
doi:10.5772/53276 fatcat:qll4ueue6bc7zg7isodgl627tu