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Updated: Jun 21, 2025

Operation of the Collaborative Composite Manufacturing CCM System

Operation of the Collaborative Composite Manufacturing CCM System

Published on: October 1, 2019

通过双臂机器人系统进行高效的皮革铺张操作.

Yuan Huan¹, Gongchang Ren², Jiangong Sun¹

¹College of Mechanical and Electrical Engineering, Shaanxi University of Science and Technology, Xi'an, China.

Scientific reports

|July 14, 2024

概括

此摘要是机器生成的。

这项研究引入了一种新的机器人方法,用于抓取和散布皮革等不规则的软材料. 该技术使用改进的对象识别和特定的抓取策略,在实验中获得72%的成功率.

关键词:

抓住和展开的技术抓住和展开的技术把握姿势优化把握姿势优化不均和板状的软物体不均和板状的软物体最佳的抓住点是最好的抓住点.YOLOV8 的改进

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Last Updated: Jun 21, 2025

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科学领域:

机器人技术机器人技术机器人技术
计算机视觉计算机视觉
材料科学材料科学材料科学

背景情况:

机器人操纵软,不规则的物体,如皮革,由于边缘的不规则性和模两可的特征点,提出了挑战.
现有的方法难以准确地抓住和扩散可变形材料.

研究的目的:

开发一种创新的机器人方法,精确地抓取和散布不规则的板状软物体,特别是皮革.
为了提高对象识别,在不规则的表面上抓住关键点.

主要方法:

开发了一种改进的YOLOV8算法,结合了BIFPN和WIOU损失,用于高精度识别抓取点.
实施了一种新的捕捉策略,涉及交替的最低点捕捉和平面技术.
建造了一个实验平台来测试拟议的方法.

主要成果:

在实验试验中,开发的方法在抓住和散布皮革方面取得了72%的成功率.
证明了对最低抓取点和平面抓取点的高精度识别.
对失败实验的分析提供了对当前局限性的洞察.

结论:

拟议的方法为机器人操纵不规则的软材料提供了可行的解决方案.
进一步的研究可以利用已识别的局限性来改进未来的机器人抓取系统.