Computer vision based object grasping 6DoF robotic arm using picamera
Computer vision based object grasping 6DoF robotic arm using picamera
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使用 picamera 基于计算机视觉的物体抓取 6DoF 机械臂
DOI：
10.1109/iccar.2018.8384653
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
Xuan Liu
中科院分区：
文献类型：
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作者：
Vishal Kumar;Qiang Wang;Wang Minghua;S. Rizwan;S. M. Shaikh;Xuan Liu
本文提出了一个项目，以设计一个强大的机器人手臂，可以执行多功能任务。机械手的控制器基于Arduino mega 2560微控制器。该项目的目的是集中机械手的所有轴提升，携带和卸载物体在所需的位置。这就需要一个精确的驱动运动控制，将电动机作为驱动系统。进一步的实验是实现一个基于摄像头的三维视觉系统，集成了计算机视觉算法来识别物体变形和空间协调，以控制与原始训练的偏差。3D可视化系统能够检测物体以及它们与末端执行器的距离，并将信号传输到驱动系统。视觉系统需要能够处理复杂视觉算法的独立计算硬件。我们利用树莓派微控制器处理视觉数据，分别使视觉系统能够识别指定的对象，根据程序命令。
This article presents a project to design a robust robotic arm which can perform multifunctional tasks. The controller of the manipulator is based on Arduino mega 2560 Microcontroller. The aim of the project is to focus all axes of manipulator to lift, carry and unload the objects at a desired location. This requires a precise drive motion control that incorporate electric motors as a drive system. Further experiments are done to implement a camera based 3D vision system integrated with a computer vision algorithm to recognize object deformation and spatial coordination to control the deviation from the original training. The 3D visualization systems are able to detect the objects as well as their distance from the End-effecter and transmit the signals to the drive system. The vision system requires a separate computing hardware capable of processing complex vision algorithms. We utilize Raspberry pi microcontroller for processing the vision data, separately making the vision system capable of recognizing the specified object as per program commands.