摘要
机械臂逆运动学、目标识别与定位是服务机器人手臂控制中的关键技术.为了更好地与复杂多变的非结构化环境进行交互,提出一种应用于服务机器人平台的基于双目视觉的仿人机械臂控制方法.给出一种针对6自由度手臂的逆解算法,并采用基于双目视觉与颜色分割的目标识别方法.然后,根据识别出的目标三维坐标信息控制机械臂完成特定任务.本方法在家庭服务机器人上得到了验证.
Inverse kinematics, object localization and manipulation are essential for service robots with manipulators to achieve various human-like tasks. Binocular vision is employed to interact with the environment in which the service robot works. This paper presents an approach for binocular based humanoid manipulation in a service robot system. An inverse kinematic solver is proposed to find all joint angles for a given position of the effectors on the manipulator. The target object is recognized according to segmented colors, and the 3D position computed using the stereo vision system. Having obtained the target position, the manipulator performs a blind grasp. Experimental results show effectiveness of the proposed methods.
出处
《上海大学学报（自然科学版）》
CAS
CSCD
北大核心
2012年第5期506-512,共7页
Journal of Shanghai University:Natural Science Edition
关键词
仿人机械臂
逆运动学
双目视觉
HSV
服务机器人
humanoid manipulator
inverse kinematics
binocular vision
hue-saturation-value （HSV）
service robot
