视觉辅助的机械臂智能抓取实验教学平台开发  

Development of Experimental Teaching Platform with Visual Aid-based Manipulator

作　　者：郝丽[1] 冷春涛[1] 武书昆 刘彦博[1] HAO Li;LENG Chuntao;WU Shukun;LIU Yanbo(Student Innovation Center,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海交通大学学生创新中心,上海200240

出　　处：《实验室研究与探索》2021年第1期152-156,217,共6页Research and Exploration In Laboratory

基　　金：国家自然科学基金项目(51605283);2018年上海交通大学决策咨询课题(JCZXSJB2018-023)。

摘　　要：开发了一种视觉辅助的机械臂智能抓取实验教学平台,整个平台由执行系统和图像处理系统组成。执行系统即机械臂本体,分为关节执行机构与手臂执行末端;图像处理系统通过摄像头遍历工作区域采集目标物图像及位置信息,计算机接收到图像数据后,进行坐标转换与目标识别处理,再将控制指令传输至机械臂,控制机械臂关节与末端的运动以完成目标物的抓取及搬运任务,至今该平台已使用两个学期。实践表明,该平台搭建方便,操作步骤与知识点易于理解掌握,适于全校各专业学生学习,可以有效调动学生的学习积极性以及培养其深入思考能力,激发学生的创新思维。A visual aid-based manipulator experimental teaching platform is developed.The system consists of an execution system and an image processing system.The execution system is the manipulator body,which could be divided into a joint actuator and an execution structure.The camera traverses the work area and collects the image of objects and position information through image processing system.After receiving the image data,the computer performs coordinate conversion and object recognition processing,and then transmits the control command to manipulator to control its movement to complete grasping and handling processing.Through the course practice,it shows that the experimental platform is easy to set up,the operation and knowledge are easy to be understand,and it is suitable for students of all majors in the school.Moreover,this experimental method can effectively motivate students'enthusiasm for learning and deep thinking,thus stimulating student's ability to innovate.

关 键 词：机械臂 视觉辅助 目标物抓取 实验教学 

分 类 号：G642.44[文化科学—高等教育学]