基于视觉定位的七轴机械臂目标抓取研究

针对机器人结合机器视觉在面对特定物体进行抓取任务时,系统设计工作量大、可移植性差的问题,提出基于机器人操作系统(ROS),结合手眼的七轴机械臂目标抓取方法,在ROS框架下利用协作机器人FRANKA PANDA结合RGBD摄像头进行目标抓取。创建了RGBD摄像头的xacro机器人模型,利用RViz进行三维模型的可视化操作;应用MoveIt!软件对RViz和Dazebo进行联合仿真;将ROS获取的图像信息发送给OpenCV库进行图像处理及物体定位,然后将物体坐标信息发还给ROS进行机械臂抓取任务。结果表明,该方法简单有效,以ROS为基础设计的抓取方法可移植性强,解决了面对复杂多样的物体,机器人系统需进行大规模控制改动的问题。

Research on Target Grabbing of Seven-Axis Manipulator Based on Machine Vision

Heavy workload of system design and poor portability will arise when Robots are used to grasp specific objects through machine vision. To resolve this problem, a seven-axis manipulator grabbing method was proposed using hand-eye combination based on robot operating system (ROS). Under the framework of ROS, target grabbing was carried out by using cooperative robot FRANKA PANDA combined with RGBD camera. The xacro robot model with RGBD camera was created and RViz was used to visualize the 3D model. MoveIt! was used for the joint simulation of RViz and Dazebo. The image information obtained by ROS was sent to the OpenCV library for image processing and object positioning, and then the object coordinate information was sent back to ROS for robotic arm grasping task. The experiment results show that the proposed method is simple and effective, and the gripping method designed based on ROS is highly portable, which solves the problem of large-scale control changes in robot systems, especially with complex and diverse objects.