计算机应用与软件2024，Vol.41Issue(8)：22-27,6.DOI:10.3969/j.issn.1000-386x.2024.08.004
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
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分类
计算机与自动化引用本文复制引用
张孟旭,高向川,尹丽楠,王建辉..基于机器视觉的机械臂抓取系统设计[J].计算机应用与软件,2024,41(8):22-27,6.
