摘要
为提高排爆机器人的智能性和易操作性,提出了排爆机器人的两种半智能作业模式:基于计算机视觉的目标物自动抓取模式和联动操作模式.在基于视觉的目标物自动抓取模式中,操作者只需在传回的现场图像中标出目标物,机械手臂就能自动抓取;在联动操作模式中,操作者能对机械手臂进行"整体"的联动控制,控制机械手臂的手爪的各个方向运动,很方便地抓取目标物。抓取实验表明,这能提高机器人的智能性和易操作性,及作业的抓取精度.最后,对误差的各种原因进行了分析。
In order to improve the intelligence and ease of operation of the EOD robot, two semi - intelligent working modes of the EOD robot are proposed : automatic grasping mode and combined operation mode based on computer vision. In the first mode, the operator only needs to mark the target object in the returned scene image, and the robot arm can automatically perform the grasping;in the combined operation mode, the operator can perform " integral" combined operation model to control the manipulator. The movement of the claws in all directions makes it easy to grasp the target. Grab experiments show that this can improve the intelligence and ease of operation of the robot, and the accuracy of the operation. Finally, the various causes of the error are analyzed.
作者
范路桥
周文琼
段班祥
姚锡凡
FAN Luqiao;ZHOU Wenqiong;DUAN Banxiang;YAO Xifan(Big Data and Artificial Intelligence College, Guangdong Polytechnic of Science and Technology, Guangzhou 510640, China;School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510641 , China)
出处
《机械设计与研究》
CSCD
北大核心
2019年第2期16-21,共6页
Machine Design And Research
基金
国家自然科学基金资助项目(51675186)
珠海市中小科技型企业创新基金(No.ZH01081404170059PZY)
广东科学技术职业学院校级科研项目(No.XJPY2018003)
