Research on Visual Servo Grasping of Household Objects for Nonholonomic Mobile Manipulator

Table 1

Coding of information stored in QR Code-based artificial object mark.

Info type	Description	Bytes
Name	Object’s name’s first two words	2
Serial number	Such as	1
Sizes	Long * width * height, 2 bytes for each items	8
Material	p (plastic), g (glass), z (paper), w (wood), s (metal), t (textile)	1
Operation force	H (huge), L (large), M (middle), S (small), T (tiny)	1
Operation position	u (upper), m (middle), b (bottom)	1
Operation orientation	a (above), f (front), b (back), l (left), r (right)	1