대한기계학회논문집A (Transactions of the Korean Society of Mechanical Engineers A)

  • 제27권7호
  • /
  • Pages.1110-1119
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  • 2003
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  • 1226-4873(pISSN)
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  • 2288-5226(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
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스테레오정합과 신경망을 이용한 3차원 잡기계획

3D Grasp Planning using Stereo Matching and Neural Network

  • 이현기 (경북대학교 기계공학과) ;
  • 배준영 (경북대학교 대학원 기계공학과) ;
  • 이상룡 (경북대학교 기계공학부)
  • 발행 : 2003.07.01
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초록

This paper deals with the synthesis of the 3-dimensional grasp planning for unknown objects. Previous studies have many problems, which the estimation time for finding the grasping points is much long and the analysis used the not-perfect 3-dimensional modeling. To overcome these limitations in this paper new algorithm is proposed, which algorithm is achieved by two steps. First step is to find the whole 3-dimensional geometrical modeling for unknown objects by using stereo matching. Second step is to find the optimal grasping points for unknown objects by using the neural network trained by the result of optimization using genetic algorithm. The algorithm is verified by computer simulation, comparing the result between neural network and optimization.

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참고문헌

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