基于Kinect的机械臂目标抓取

Kinect-based object grasping by manipulator

为完成机械臂在非特定环境下的自主抓取,系统采用微软公司研发的Kinect对场景内的信息进行实时检测.通过对Kinect采集的深度信息进行背景相减法和帧差法处理可以获得目标抓取点信息.利用基于工作空间的RRT算法对机械臂末端进行路径规划,并利用梯度投影法进行逆运动学轨迹优化,求解关节轨迹.机械臂按照关节角运动时,可完成目标的抓取.通过设计一套实时桌面清理实验系统,验证了该方法的有效性.

Kinect from Microsoft is often used in the robot system for target and real-time detection in unstructured environments. Background subtraction and frame difference algorithms based on the depth information collected by Kinect are used to obtain the information of the grasp point. A Rapidly-exploring Random Tree （RRT） algorithm based on the working space was used to carry out path plan of the end of manipulator, and gradient projection algorithm was used to do inverse kinematics trajectory optimization. The manipulator was able to accomplish object grasping tasks according to the joint angles. An experiment system was developed to verify the effectiveness of the proposed methods.