Vision Based Object Grasping of Robotic Manipulator

被引：0
|
作者：
Ren, Yaqi [1 ]
Sun, Hao [1 ]
Tang, Yin [1 ]
Wang, Shuopeng [1 ]
机构：
[1] Hebei Univ Technol, Sch Artificial Intelligence & Data Sci, Tianjin, Peoples R China
来源：
2018 24TH IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND COMPUTING (ICAC' 18) | 2018年
关键词：
humanoid manipulator; stereo vision; feature matching; robot grasping; SERVO CONTROL;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In order to better interact with the complex and unstructured environment and complete the recognition and capture of the target object, a humanoid robot arm control method based on binocular vision applied to the service robot platform is proposed. Firstly, the kinematics model is established for the manipulator, and the forward kinematics and inverse kinematics are analyzed. Target recognition method based color segmentation, then the identified three-dimensional coordinate information of the target controls the robot arm to complete the grab task. In this paper, a blind grasp is performed by the ROBOROT ARM1 manipulator. The experimental results show that the robot can complete the recognition and automatic capture of the target object.
引用
收藏
页码：219 / 223
页数：5
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