This paper focuses on the problem of visual servo grasping of household objects for nonholonomic mobile manipulator. Firstly, a\nnew kind of artificial object mark based onQR (Quick Response) Code is designed, which can be affixed to the surface of household\nobjects. Secondly, after summarizing the vision-based autonomous mobile manipulation system as a generalized manipulator, the\ngeneralized manipulator�s kinematic model is established, the analytical inverse kinematic solutions of the generalized manipulator\nare acquired, and a novel active vision based camera calibration method is proposed to determine the hand-eye relationship. Finally,\na visual servo switching control law is designed to control the service robot to finish object grasping operation. Experimental results\nshow that QR Code-based artificial object mark can overcome the difficulties brought by household objects� variety and operation\ncomplexity, and the proposed visual servo scheme makes it possible for service robot to grasp and deliver objects efficiently.
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