基于视觉伺服的Baxter机器人手臂跟随系统研究  

Research on Baxter Robot Arm Following System Based on Visual Servo

作　　者：王政博 唐勇 刘海波 孙东来 栗梦媛 WANG Zheng-bo;TANG Yong;LIU Hai-bo;SUN Dong-lai;LI Meng-yuan(Hebei University of Water Resources and Electric Engineering, 061001, Cangzhou, Hebei, China;Research and Development Center of Water Conservancy Automation and Information Technology in Colleges and Universities of Hebei Province, 061001, Cangzhou, Hebei, China)

机构地区：[1]河北水利电力学院自动化与通信工程学院,河北省沧州市061001 [2]河北省高校水利自动化与信息化应用技术研发中心,河北省沧州市061001

出　　处：《河北水利电力学院学报》2021年第2期61-66,共6页Journal of Hebei University Of Water Resources And Electric Engineering

基　　金：沧州市科技计划自筹经费项目(204102006);河北水利电力学院基本科研业务费研究项目-青年科研创新项目(SYKY2019)。

摘　　要：文中介绍了Baxter机器人控制方式和一种基于势函数的视觉伺服控制机器人手臂跟随运动的方法,为服务机器人和协作机器人的发展提供了技术支撑。首先通过基于OpenCV的颜色检测方法从摄像机获取跟随物体的相对方位信息,然后通过ROS系统对机械臂进行运动控制,最后利用视觉与机器人配合完成机器人手臂跟随系统设计。通过对跟随轨迹精度分析表明,眼内视觉传感器的布置可以提供相对较高的精度,避免视觉碰撞,从而实现准确的跟随运动。利用实验验证了该方法的有效性。This paper introduces the control mode of Baxter robot and a potential function based visual servo control method of robot arm following motion,which provides technical support for the development of service robot and cooperative robot.In this paper,the relative orientation information of the following object was obtained from the camera based on OpenCV color detection method,and the manipulator was controlled by ROS system.Finally,vision and robot were used to complete the design of the robot arm following system.By analyzing the precision of the following track,it is shown that the arrangement of the intraocular vision sensor can provide relatively high precision and avoid visual collision,thus realizing accurate following motion,and the effectiveness of the method is verified.

关 键 词：BAXTER OPENCV 视觉伺服 运动控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]