Visual positioning and mechanical arm grabbing realization method based on ROS

Abstract

The invention provides a visual positioning and mechanical arm grabbing realization method based on a ROS. The method includes that a camera is arranged above or laterally above a to-be-grabbed object, acquires images of the to-be-grabbed object and an affiliate mark and inputs the images to an upper computer; a camera driver is arranged on the upper computer, the images of the camera are read, a specific algorithm is utilized for data processing, spatial coordinates of the object relative to the camera and a mechanical arm are acquired, and a movement planning parameter value is given out and sent to a lower computer; the lower computer receives and analyzes movement information sent by the upper computer, and the mechanical arm is driven to execute grabbing according to preset action. By the method, powerful processing operation capability of the upper computer can be utilized effectively, and layout of the mechanical arm and the upper computer and collaborative working of multiple mechanical arms can be realized easily; by adopting the ROS, movement planning of the mechanical arm can be realized easily, so that the method has wide application prospect.

Description

technical field [0001] The invention belongs to the field of manipulator control and motion planning, in particular to a method for implementing visual positioning and manipulator grasping based on ROS system. Background technique [0002] The robotic arm is the most widely used automation device in the field of robotics, especially the multi-degree-of-freedom robotic arm plays more and more roles in many fields such as machinery manufacturing, automobiles, semiconductors, medical care, and home services. Therefore, the robotic arm Motion control has always been a research hotspot. At present, the main application scenarios of robotic arms are as follows: [0003] 1) Welding field. Used in place of humans to perform welding roles in adverse welding environments. [0004] 2) The field of automated production lines. It is mainly used to perform actions such as grabbing, flipping, and sorting items to improve production efficiency. [0005] 3) Medical field. It is mainly ...

AI Technical Summary

Problems solved by technology

[0019] In view of the defects or deficiencies in the existing technology, the present invention aims to propose a monocular vision positioning and robotic arm grasping method based on the ROS system, which can effectively solve the problems of poor environmental adaptability of the robotic arm and high difficulty in development and use.

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