基于视觉的机械臂动态避障系统研究  

Research on Dynamic Obstacle Avoidance System of Manipulator Based on Vision

作　　者：岳利品 翟维枫[1] 邱佳汇 王欣懿 宋亚冰 

机构地区：[1]北方工业大学电气与控制工程学院,北京100144

出　　处：《工业控制计算机》2022年第3期27-29,共3页Industrial Control Computer

摘　　要：外科机器人手术发展迅猛,从1992年第一台机器人手术系统到2008年,国内高江平教授与国外Bladou教授共同完成国内首例通过控制机器人手臂实现“达芬奇机器人”腹腔镜前列腺癌根治手术。围绕MoveIt!功能包来实现对视觉数据的处理和对机械臂运动的控制,采用八叉树建图的方式,深度相机实时检测到机械臂周围环境的变化,当出现动态障碍物时,能够检测到障碍物的存在,达到动态避障的效果。避免机械臂出现碰撞事件的发生。Robotic surgery has developed rapidly.From the first robotic surgery system in 1992 to 2008,Professor Gao Jiangping and foreign professor Bladou jointly completed the first ″Da Vinci robot″ laparoscopic radical prostatectomy in China by controlling the robot arm.This paper focuses on Moveit! function package is used to process the visual data and control the movement of the manipulator.The octree mapping method is adopted.The depth camera can detect the changes of the surrounding environment of the manipulator in real time.When there are dynamic obstacles,it can detect the existence of obstacles and achieve the effect of dynamic obstacle avoidance.Avoid collision of the manipulator.

关 键 词：八叉树 动态避障 深度相机 机械臂 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]