A visual positioning and robotic arm grasping method based on ros system

Abstract

A ROS-based mechanical arm grabbing method and system. An implementation process comprises: configuring a use environment of a camera (20) on an upper computer (10), and then disposing the camera (20) above or laterally above an object to be grabbed and obtaining an image of the object to be grabbed that contains a positioning mark; inputting the image to the upper computer (10); reading the image of the camera (20) and performing data processing by using a particular algorithm to obtain spatial pose information of the object to be grabbed at mechanical arm coordinates; and giving a motion information queue and sending same to a lower computer (30). The lower computer (30) receives and parses the motion information queue sent by the upper computer (10), and drives a mechanical arm to perform a grabbing operation according to a preset action. The ROS-based mechanical arm grabbing method and system can effectively utilize the powerful processing operation capability of the upper computer (10), readily implement layout of the mechanical arm and the upper computer (10) and collaborative operation of multiple mechanical arms, and easily implement motion planning of the mechanical arms by using a ROS, and thus have a 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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