Abstract
In order to solve the precise robotic grasp problem, an industrial robot grasp workstation, aiming an object with a circular feature, was considered. To this end, a novel method, namely, POLAR-LINE2D has been proposed. This method combines the LINE-2D method, log-polar transform, and computer-aided design (CAD) technique together. It can precisely obtain the object's translation and rotation transformation. The first step in this method is to use the geometric feature to create a model of the object to be grasped and then use the LINE-2D method to obtain the translation transformation of the object in the input image. The second step is to apply the log-polar transformation to the input image. Finally, in the last step, the SVM multiple model selection and geometric LINE-2D methods are used to precisely determine the object's rotation angle.
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