无人艇载机械臂视觉目标抓取系统设计与实现  

Unmanned Boat-mounted Robotic Arm Visual Target Grasping System

作　　者：罗皓旸 

机构地区：[1]上海大学机电工程与自动化学院,上海200444

出　　处：《工业控制计算机》2024年第10期113-115,共3页Industrial Control Computer

摘　　要：针对无人艇载机械臂受欠驱动运动特性的影响,在抓取视觉目标的过程中存末端失衡失准的问题,设计并实现一种无人艇载机械臂视觉目标抓取系统。在构建的系统软硬件和运动学模型基础上,采用RRT*算法和五次多项式方法规划无人艇和机械臂的运动轨迹,最终完成仿真和实艇验证。试验结果表明,该系统能够有效协调规划无人艇和机械臂的运动,实际抓取视觉目标具有可行性和优越性。Aiming at the problem that the unmanned boat-carried robotic arm is affected by the underdriven kinematics and suffers from end imbalance and inaccuracy in the process of grasping visual targets,an unmanned boat-carried robotic arm visual target grasping system is designed and implemented in this paper.On the basis of the constructed system hardware and software and kinematic model,the RRT*algorithm and the fifth degree polynomial method are used to plan the motion trajectory of the unmanned boat and the robotic arm,and the simulation and verification of the real boat are finally completed.The experimental results show that the system can effectively coordinate the planning of the motion of unmanned boat and robotic arm,and the actual grasping of visual targets has feasibility and superiority.

关 键 词：无人艇 机械臂 运动轨迹规划 视觉目标抓取 

分 类 号：U664[交通运输工程—船舶及航道工程] TP241[交通运输工程—船舶与海洋工程] TP391.41[自动化与计算机技术—检测技术与自动化装置]