抓取操作是否成功的关键在于是否得到一个准取的抓取位置．物体的抓取位置由

抓取操作是否成功的关键在于是否得到一个准取的抓取位置．物体的抓取位置由待抓取物体的几何以及物理特性决定，这就需要我们引入视觉信息并关注抓取位置检测算法的泛化性能．对于物体抓取位置的检测主要关注3个方面的信息，即物体的抓取位置、抓取角度以及抓取时平行夹持器的张开距离．以人类经验而言，物体的抓取位置一般位于物体质心附近，抓取角度垂直于物体较长的平行边，而理解这一点对于机器人来说并不容易．

The key to the success of the grasping operation is whether to obtain an accurate grasping position. The grasping position of the object is determined by the geometric and physical characteristics of the object to be grasped, which requires us to introduce visual information and pay attention to the generalization performance of the grasping position detection algorithm. The detection of the grasping position of the object mainly focuses on three aspects of information, namely, the grasping position of the object The grasping angle and the opening distance of the parallel gripper during grasping. In human experience, the grasping position of the object is generally located near the center of mass of the object, and the grasping angle is perpendicular to the longer parallel edge of the object, which is not easy for the robot to understand

The key to the success of grasping is whether to get an accurate grasping position. The grasping position of an object is determined by the geometric and physical characteristics of the object to be grasped, which requires us to introduce visual information and pay attention to the generalization performance of the grasping position detection algorithm. For the detection of the grasping position of an object, we mainly pay attention to three aspects of information, namely, the grasping position, the grasping angle and the opening distance of the parallel gripper when grasping. According to human experience, the grasping position of an object is generally near the centroid of the object, and the grasping angle is perpendicular to the long parallel edge of the object.