一种用于用手眼机器人到达和揭开部分遮挡的感兴趣对象的控制器，
A controller for reaching and unveiling a partially occluded object of interest with an eye-in-hand robot
摘要：
本文提出了一种基于机器人末端执行器上的手持摄像机获取的分类点云的控制方案，用于接近和揭示部分遮挡的感兴趣对象。它示出，所提出的控制器达到在附近的对象逐步揭开的兴趣对象的每个可见点的邻域。因此，它可以潜在地实现对象的完全揭开。所提出的控制方案是通过模拟和实验与UR5e机器人与手实感摄像头上的模拟葡萄藤设置揭开葡萄的茎进行评估。
英文摘要：
In this work, a control scheme for approaching and unveiling a partially occluded object of interest is proposed.The control scheme is based only on the classified point cloud obtained by the in-hand camera attached to the robot's end effector. It is shown that the proposed controller reaches in the vicinity of the object progressively unveiling the neighborhood of each visible point of the object of interest. It can therefore potentially achieve the complete unveiling of the object. The proposed control scheme is evaluated through simulations and experiments with a UR5e robot with an in-hand RealSense camera on a mock-up vine setup for unveiling the stem of a grape.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
