摘要
现有纺织行业自动化水平较低、劳动力成本高,机器人代替人工必将成为必然.本文研制了基于Kinect的机器人织物抓取系统.利用Kinect传感器获得织物图像,应用Cam Shift算法找出目标织物,获得该目标织物的质心,应用机器人运动学将此质心坐标转换为机器人运动参数,实现机器人对织物的抓取.实验结果表明,该方法能够快速准确获得目标织物质心的三维坐标,较双目视觉机器人系统具有优势.
With the lower level of automation and high labor costs in the present fabric industry, it is inevitable that the robot will replace human to work. The article presents the robot fabirc scraping system based on the Kinect. First of all, target fabric image is obtained by making use of Kinect. Then, target fabric can be found out by CamShift algorithm and the center of mass is gotten. Finally, the coordinates can be transformed into motion coefficient with robot kinematics to make robot scraping fabric come ture. The experiment results imply the method which can get three-dimensional coordinates of target fabric quickly has more advantages than visual robot.
出处
《计算机系统应用》
2017年第6期93-97,共5页
Computer Systems & Applications
基金
国家自然科学基金(61301276)
陕西省自然科学基础研究计划(2016JQ5106
2015JQ6258)
