基于机器视觉的机械臂抓取系统设计
DESIGN OF ROBOT ARM GRIPPING SYSTEM BASED ON MACHINE VISION
张孟旭 1高向川 1尹丽楠 1王建辉2
作者信息
- 1. 郑州大学信息工程学院 河南郑州 450000
- 2. 郑州慕速物联科技有限公司 河南郑州 450000
- 折叠
摘要
以六自由度的Kinova机械臂和Realsense深度相机等硬件为基础,设计基于机器视觉的机械臂抓取系统.针对传统模板匹配法不具有旋转不变性的问题,将颜色识别算法应用于目标识别中.建立机器人系统参数化模型,对图像预处理并通过颜色识别算法得到目标的质心坐标,通过D-H参数法建立机械臂运动学模型,利用逆运动学求解出关节角度进而完成抓取.通过实验数据表明,该系统具有较高的可行性.
Abstract
This paper designs a machine vision-based robotic arm gripping system based on hardware such as a six-degree-of-freedom Kinova robotic arm and a Realsense depth camera.To solve the problem that the traditional template matching method was not rotation invariant,the color recognition algorithm was applied to the target recognition.A parametric model of the robot system was established,the image was pre-processed,and the center-of-mass coordinates of the target were obtained by the color recognition algorithm.The kinematic model of the robot arm was established by the D-H parameter method,and the joint angle was solved by the inverse kinematics to complete the grasping.The experimental data show that the system designed in this paper is highly feasible.
关键词
ROS/机器视觉/系统设计/机械臂抓取Key words
ROS/Machine vision/System design/Robotic arm gripping引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据