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基于多重几何约束的未知物体抓取位姿估计.docx

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基于多重几何约束的未知物体抓取位姿估计 Title:UnknownObjectGraspingPoseEstimationBasedonMultipleGeometryConstraints Abstract: Graspingunknownobjectswitharoboticmanipulatorisachallengingtaskduetothelackofpriorknowledgeabouttheobject'sshapeandsize.Thispaperaddressestheproblemofestimatingthegraspingposeofunknownobjectsusingmultiplegeometryconstraints.Theproposedapproachcombinesbothgeometricandphysicalconstraintstoimprovetheaccuracyandrobustnessoftheposeestimation.Experimentalresultsdemonstratetheeffectivenessoftheproposedmethodinestimatingthegraspingposeofunknownobjects. 1.Introduction(200words) Roboticgraspinghasattractedsignificantresearchattentioninrecentyearsduetoitsapplicationsinvariousdomains,includingmanufacturing,logistics,andhealthcare.However,graspingunknownobjectsaccuratelyremainsachallengingproblem.Thispaperfocusesontheestimationofthegraspingposeofunknownobjectsusingmultiplegeometryconstraints.Theproposedapproachleveragesbothgeometricandphysicalconstraintstoimprovetheaccuracyandrobustnessofthegraspingposeestimation.Therestofthepaperisorganizedasfollows:Section2reviewsrelatedworkonobjectgraspingandposeestimation;Section3presentstheproposedmethodindetail;Section4describestheexperimentalsetupandresults;andfinally,Section5concludesthepaperanddiscussesfutureresearchdirections. 2.RelatedWork(300words) Thissectionreviewstheexistingliteratureonobjectgraspingandposeestimation.Variousmethodshavebeenproposedtoestimatetheposeofknownobjectsusingobjectrecognitiontechniques,depthsensors,orvisualfeedback.However,thesemethodsrelyonpriorknowledgeoftheobject'sshapeandappearance.Graspingunknownobjectsrequiresadifferentapproachthatcanhandleawiderangeofobjectshapesandsizes. Severalapproacheshaveaddressedtheproblemofgraspingunknownobjectsbasedongeometryconstraints.Onesuchapproachistheiterativeclosestpoint(ICP)algorithm,whichalignsamodeloftheobjectwiththepointcloudobtainedfromadepthsensor.However,ICPcanbesensitivetonoiseandmayfailtoconvergeiftheinitialposeestimateisfarfromthetruepose.Othermethodsleve