This work proposes a Kinect V2-based visual method to solve the human dependence on the yarn bobbin robot in the grabbing operation. In this new method, a Kinect V2 camera is used to produce three-dimensional (3D) yarn-bobbin point cloud data for the robot in a work scenario. After removing the noise point cloud through a proper filtering process, the M-estimator sample consensus (MSAC) algorithm is employed to find the fitting plane of the 3D cloud data; then, the principal component analysis (PCA) is adopted to roughly register the template point cloud and the yarn-bobbin point cloud to define the initial position of the yarn bobbin. Lastly, the iterative closest point (ICP) algorithm is used to achieve precise registration of the 3D cloud data to determine the precise pose of the yarn bobbin. To evaluate the performance of the proposed method, an experimental platform is developed to validate the grabbing operation of the yarn bobbin robot in different scenarios. The analysis results show that the average working time of the robot system is within 10s, and the grasping success rate is above 80%, which meets the industrial production requirements.

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