Visual positioning and mechanical arm grabbing realization method based on ROS

An implementation method and a technology of a manipulator, which are applied in the directions of manipulators, program-controlled manipulators, and manufacturing tools, can solve the problems of high difficulty in development and use, poor adaptability of manipulators, etc., and achieve the effects of realizing layout, improving adaptability, and reducing use costs

Active Publication Date: 2017-06-13
NANJING AVATARMIND ROBOT TECH CO LTD
View PDF3 Cites 48 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 m

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Visual positioning and mechanical arm grabbing realization method based on ROS
  • Visual positioning and mechanical arm grabbing realization method based on ROS
  • Visual positioning and mechanical arm grabbing realization method based on ROS

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0067] Such as figure 1 As shown, according to a preferred embodiment of the present invention, the ROS system-based monocular vision positioning and robotic arm grasping implementation method, the implementation environment includes the upper computer, lower computer and communication environment. The upper computer is the main body of image detection and image processing, and the lower computer is the main body of receiving commands and performing grasping, and they work together to complete the task of robotic arm grasping.

[0068] refer to figure 1 As shown in the schematic diagram of the implementation environment, the implementation environment of this embodiment consists of the following parts:

[0069] 1) USB camera. The camera is placed above or obliquely above the object to be captured. It is best to have a clear and unobstructed shooting angle, and it is necessary to specify the coordinate system where the camera is located ( figure 1 The coordinate system shown...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

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 ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B25J9/16
CPCB25J9/161B25J9/1664B25J9/1697
Inventor 张光肖
Owner NANJING AVATARMIND ROBOT TECH CO LTD
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap