Unmanned Boat-mounted Robotic Arm Visual Target Grasping System
Aiming at the problem that the unmanned boat-carried robotic arm is affected by the underdriven kinematics and suffers from end imbalance and inaccuracy in the process of grasping visual targets,an unmanned boat-carried robot-ic arm visual target grasping system is designed and implemented in this paper.On the basis of the constructed system hardware and software and kinematic model,the RRT* algorithm and the fifth degree polynomial method are used to plan the motion trajectory of the unmanned boat and the robotic arm,and the simulation and verification of the real boat are fi-nally completed.The experimental results show that the system can effectively coordinate the planning of the motion of un-manned boat and robotic arm,and the actual grasping of visual targets has feasibility and superiority.
万方数据
维普
