Aiming at the problem of poor flexibility and positional adaptability in the cracking of traditional industrial robots in the movement target,a dynamic grasping strategy based on visual feedback was performed in an open source robot operating system (ROS).The UR5 manipulator dynamic grasping system was constructed in ROS,and the forward and inverse kinematics of the manipulator were analyzed;based on RGB color space and SITF algorithm,a new feature recognition method was proposed to improve the recognition efficiency;a visual feedback control strategy was designed for gaze approaching to realize the grasping operation of the moving target on the conveyor belt by using the mechanical arm.The results show that by using the designed strategy,the recognition success rate can reaches 99.6%,and the approximate grasping success rate can reaches 98.33%,which verify that the feedback capture algorithm dominated by machine vision basically meets the practical application of engineering,and has high feasibility and accuracy.
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王校峰,王建文,曹鹏勇,杨云茂.机器视觉主导的机械臂动态抓取策略研究[J].机床与液压,2022,50(17):38-42. WANG Xiaofeng, WANG Jianwen, CAO Pengyong, YANG Yunmao. Research on Dynamic Grasping Strategy of Robot Arm Dominated by Machine Vision[J]. Machine Tool & Hydraulics,2022,50(17):38-42