基于双目视觉定位的机械臂智能抓取控制研究  

Research on Intelligent Grasping Control of Robotic Arm Based on Binocular Vision Positioning

作　　者：陈晗彬 Chen Hanbin(Fujian Special Equipment Inspection and Research Institute,National Quality Inspection and Testing Center of Special Robot Produce(Fujian),Fuzhou 350028,China)

机构地区：[1]福建省特种设备检验研究院国家特种机器人产品质量检验检测中心(福建),福州350028

出　　处：《机电工程技术》2023年第12期115-119,共5页Mechanical & Electrical Engineering Technology

摘　　要：随着科技的发展,机械臂开始往更加智能化、自动化的方向发展,单单依靠传统的通过示教器执行单一指令的机械臂已远远不能满足各类复杂的生产和服务。为了让机械臂更加智能化和科技化,通过赋予其双目视觉感知模块和智能控制系统,对机械臂智能抓取控制进行研究。采用HSR-Co605协作机械臂,基于双目视觉相机在ROS系统进行仿真建模、运动规划、障碍物规避等试验;在复杂环境下实现了机器人双目视觉模块自主识别定位物体,同时对周围障碍物进行避障规划,实现机械臂自主运动规划及智能抓取操作。在不同场景下进行了智能抓取试验,并对其试验结果进行了分析,为后续机械臂能更好地适应复杂的工作环境以及产业化发展提供参考。With the development of technology,robotic arms have begun to develop towards a more intelligent and automated direction.Relying solely on a robotic arm that executes a single command through a teaching pendant is far from meeting various complex production and service needs.In order to make the manipulator more intelligent and scientific,the intelligent grasping control of the manipulator is studied by endowing it with a binocular vision perception module and an intelligent control system.HSR-Co605 cooperative manipulator is used to carry out simulation modeling,motion planning,obstacle avoidance and other experiments in the ROS system based on the binocular vision camera;the robot binocular vision module is realized to independently identify and locate objects in complex environments,at the same time,the obstacle avoidance planning is carried out for the surrounding obstacles,and the robot arm autonomous motion planning is realized to successfully complete the intelligent grasping operation.Intelligent grasping experiments are conducted in different scenarios and the experimental results are analyzed,providing a theoretical basis for the subsequent adaptation of the robotic arm to complex working environments and industrial development.

关 键 词：双目视觉 六轴机械臂 模拟仿真 运动规划 视觉抓取 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]