刘冬

个人信息Personal Information

副教授

博士生导师

硕士生导师

性别:男

毕业院校:大连理工大学

学位:博士

所在单位:机械工程学院

学科:机械电子工程. 机械制造及其自动化. 机械设计及理论

办公地点:机械学院6116

电子邮箱:liud@dlut.edu.cn

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Optimal Hand-Arm Robot Grasping Area Prediction Using Support Vector Machine

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论文类型:会议论文

发表时间:2017-01-01

收录刊物:CPCI-S

页面范围:153-158

关键字:hand-arm robot; optimal grasping area; support vector machine; joint torque

摘要:Hand-arm robot have been widely used in many fields to replace humanbeings to perform various tasks. Abundant researches have been made to better the robot services. However, when providing the same service, robot grasping process should be optimized to save robot labor like human movements. In this paper, we proposed a support vector machine (SVM) based algorithm to train hand-arm robot to perform optimal grasping process. Grasping experiments using a JACO(2) robot arm and a KG-3 gripper are made. Joint torque data are recorded and labeled. SVM is used to separate the optimal label from non-optimal label. The optimal grasping area are thereafter found. In this case, we could save robot labor and serving life is extended. The effectiveness and accuracy of the support vector machine based algorithm were further verified by a branch of following grasping experiments. The results show that the proposed method could correctly predict the optimal grasping area.