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

Table 5

The pose information corresponding to known movements of the generalized manipulator.

		Roll	Pitch	Yaw
I1		2.9713	1.4401	−2.9833	42.2281	−0.6184	41.7720
		−2.5304	−0.1911	−1.6459	−6.2760	−7.2463	45.1793
I2		1.9856	1.3546	−2.0969	41.7209	−5.4980	43.0438
		−2.6322	−0.0152	−1.7485	−17.8379	−1.7928	44.5287
I3		2.2297	1.2953	−2.3112	38.8304	−6.0230	43.0616
		−2.5396	0.0100	−1.7451	−20.4513	−6.5954	45.0891
I4		−2.9439	1.3868	2.9484	33.4385	1.0060	46.4443
		−2.4884	−0.2583	−1.6244	−2.9982	−11.5786	54.2764
I5		−1.9581	1.4303	1.9545	27.6891	3.6303	52.0272
		−2.6579	−0.3423	−1.6116	2.7396	−2.0687	63.8751
I6		1.3769	1.3922	−1.3078	16.0177	−4.8820	54.7535
		−2.7377	−0.0032	−1.5332	−23.9188	1.5681	71.5180