摘要
为适应工程教育和课程教学改革的需要,依托视觉机器人平台对自动抓取机械手控制进行了研究。系统硬件主要包括实验平台、相机、光源和机械臂等组件。在图像处理与目标识别中,颜色的分类识别采用的是基于混合高斯模型(GMM)的分类器,形状的识别采用的是MPL多神经网络分类器。最后介绍了机械手的运动建模和抓取流程并进行了实验,实验效果良好。
In order to meet the needs of engineering education and curriculum teaching reform,the control of automatic grabing manipulator is studied based on the vision robot platform.The system hardware mainly includes the experimental platform,camera,light source,mechanical arm and other components.In image processing and target recognition,uses the classifier based on Gaussian mixture model(GMM)for color classification and recognition,uses MPL multi neural network classifier for shape recognition.Finally,the motion modeling and grabing process of the manipulator are introduced and experiment is carried out,and the experimental results are good.
作者
刘莹
祝学云
徐佳文
LIU Ying;ZHU Xueyun;XU Jiawen(School of Instrument Science and Engineering,Southeast University,Nanjing 210096,China)
出处
《现代信息科技》
2021年第8期156-158,161,共4页
Modern Information Technology
基金
东南大学教学改革研究项目(2019-119)。
关键词
视觉机器人
机械手
实验教学改革
vision robot
manipulator
experimental teaching reform
