Development on robot hand grasping and slipping detecting system based on image recognition

XING Yang; SHI Yun-ze; YU Zhu-qing

doi:10.13873/J.1000-9787(2017)04-0131-03

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Development on robot hand grasping and slipping detecting system based on image recognition

更新时间：2025-09-11

- Development on robot hand grasping and slipping detecting system based on image recognition
- Vol. 36, Issue 4, Pages: 131-133+142(2017)
- 作者机构：
  
  常州大学机械工程学院
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2017)04-0131-03
  CLC： TP241;TP391.41
- Published：2017
- 稿件说明：
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[1]邢扬,史运泽,俞竹青.图像识别的机器手抓握滑移检测系统开发[J].传感器与微系统,2017,36(04):131-133+142.

XING Yang, SHI Yun-ze, YU Zhu-qing. Development on robot hand grasping and slipping detecting system based on image recognition[J]. 2017, 36(4): 131-133+142.
[1]邢扬,史运泽,俞竹青.图像识别的机器手抓握滑移检测系统开发[J].传感器与微系统,2017,36(04):131-133+142. DOI： 10.13873/J.1000-9787(2017)04-0131-03.

XING Yang, SHI Yun-ze, YU Zhu-qing. Development on robot hand grasping and slipping detecting system based on image recognition[J]. 2017, 36(4): 131-133+142. DOI： 10.13873/J.1000-9787(2017)04-0131-03.

摘要

为实现机器手抓握物体时不发生脱落

首先应检测其与被抓握物体接触面上的滑移信号。提出一种基于图像识别的机器手抓握滑移检测方法

采用中心区域匹配思想的归一化互相关算法（NCC）匹配由视觉传感器实时采集到的被抓握物体表面图像

得到被抓握物体在采集图像期间的滑移情况。实验结果表明:此系统可以准确检测被抓握物体是否发生滑移及滑移的方向和大小

具有高准确度、高灵敏度等优点。

Abstract

To achieve the object to be grasped by robot without shedding

the first thing to do is detecting the slipping signal between the object and the robot. A method for slipping signal detection based on image recognition is presented

use normalized cross-correlation algorithm（ NCC） to match surface image of object real-time collected by the visual sensor

slipping case during collecting images of grasped object robot can be obtained by comparing these two images. Experimental results indicates that this method can accurately detect the slip signal of the object which grasping by robot and the direction and size of slipping

the method possesses advantages of high accuracy

and high sensitivity etc.

关键词

Keywords

references

基于自适应步长选择的NCC图像匹配算法 [J]. 李子印,许斌,陈立峰. 光电工程 . 2013(10)

基于新型压阻触滑觉传感器软抓取机械手的研究 [J]. 向婷,陈进军. 制造业自动化 . 2013(06)

快速区域质心图像匹配算法 [J]. 胡敏,贺晓佳,王晓华. 电子测量与仪器学报 . 2011(05)

基于NCC的存在旋转的图像匹配方法 [J]. 孙卜郊,周东华. 传感器与微系统 . 2008(05)

基于滑觉检测的农业机器人果蔬抓取研究 [D]. 朱树平. 南京农业大学 2012

Thick-film force and slip sensors for a prosthetic hand [J] . A. Cranny,D.P.J. Cotton,P.H. Chappell,S.P. Beeby,N.M. White. Sensors & Actuators: A. Physical . 2005

Fast normalized cross correlation for defect detection [J] . Du-Ming Tsai,Chien-Ta Lin. Pattern Recognition Letters . 2003 (15)

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