In this work, a control scheme for approaching and unveiling a partially occluded object of interest is proposed.The control scheme is based only on the classified point cloud obtained by the in-hand camera attached to the robot's end effector. It is shown that the proposed controller reaches in the vicinity of the object progressively unveiling the neighborhood of each visible point of the object of interest. It can therefore potentially achieve the complete unveiling of the object. The proposed control scheme is evaluated through simulations and experiments with a UR5e robot with an in-hand RealSense camera on a mock-up vine setup for unveiling the stem of a grape.
翻译:在这项工作中,提出了接近和揭开部分隐蔽对象的监控计划。 控制计划仅以机器人终端效果器附属的内摄像头获得的机密点云为基础。 显示拟议的控制器在物体附近接近该物体, 逐渐揭开该物体的每个可见点的周围。 因此它有可能完全揭开该物体。 拟议的控制计划通过模拟和实验来评价, 与一个配备了实时RealSense照相机的UR5e机器人进行模拟和实验, 并用一台内置的RealSense照相机在为揭开葡萄干而设的模拟葡萄藤上。