Wanqin LI, Haitao JING, Faming FANG, Xiaolong MA, Huaiwu ZOU, Feng LI. A Task-based Grasping Method for Aerospace Electrical Connectors[J]. AEROSPACE SHANGHAI, 2024, 41(4): 58
- AEROSPACE SHANGHAI
- Vol. 41, Issue 4, 58 (2024)
Fig. 1. Framework diagram of the system
Fig. 2. Representation of the non-uniform normalized object coordinate space
Fig. 3. Process of grasping attitude samples in the simulator
Fig. 4. Detection of grasping attitudes
Fig. 5. Diagram of the grasping network Q
Fig. 6. Surface contact heat maps of the J599 electrical connector
Fig. 7. Architecture diagram of the 3D-BoNet
Fig. 8. Experimental samples
Fig. 9. An electrical connector generated in the simulator
Fig. 10. Diagram of grasping and then assembling the model
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Table 1. Experimental results
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Table 2. Experimental results of non-participating electrical connectors
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