Планирование, моделирование и экспериментальное исследование типовой манипуляционной операции

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Планирование, моделирование и экспериментальное исследование манипуляционной операции
ISSN 0236-3941. Вестник МГТУ им. Н.Э. Баумана. Сер. Машиностроение. 2016. № 4 69
PLANNING, SIMULATION AND EXPERIMENTAL RESEARCH
INTO TYPICAL ROBOTIC MANIPULATOR OPERATION
A.G. Leskov1
V.V. Illarionov1
I.A. Kalevatykh1,2
S.D. Moroshkin1
K.V. Bazhinova1,2
E.V. Seliverstova1,2
1 Dmitrov Branch of Bauman Moscow State Technical University, Orevo, Moscow Region,
Russian Federation
2 Bauman Moscow State Technical University, Moscow, Russian Federation
Abstract Keywords
This paper introduces an approach and experimental
results of planning, simulating and automatic performing
of typical robotic manipulations of an object with un-
known position, orientation and dimensions. The ap-
proach is based on combining automatic motion trajectory
planning algorithms using computer vision systems with
trajectory learning through demonstrating action sequenc-
es by human operator. The demonstration is held in virtual
environment with the determined task pattern. The meth-
od is implemented for automatic opening of a bag with a
magnetic snap. Experimental results with an industrial
robot confirm the suitability of the proposed method
Manipulator, automatic mode,
computer appliance, task pattern,
bag opening, ROS, MoveIt
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