DESIGN OF ROBOT ARM GRIPPING SYSTEM BASED ON MACHINE VISION
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.
ROSMachine visionSystem designRobotic arm gripping
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