Research on Intelligent Grasping System of Monocular Vision Guided Manipulator

In order to solve the problem of how a cooperative robot can quickly and accurately locate and grasp the specified target work piece and avoid obstacles autonomously under the condition of man-machine cooperation and the variable position of the object to be grasped, a new method of robot arm grasping under the visual guidance of ROS system was proposed. Using ROS framework and tools, the color threshold algorithm in ROS-Opencv is used to realize the rapid recognition and positioning of grasping targets. Use the ROS-Moveit! The kinematics calculation, motion planning and obstacle avoidance of the manipulator are completed the relationship between the image coordinate system and the robot coordinate system is established by hand eye calibration technology. In addition, ROS tools can be used to obtain information such as the position and speed of each joint during the movement of the mechanical arm. Through experimental testing and data analysis, it is shown that the hand-eye system is accurate in calibration, object positioning, and the robot arm can accurately grasp the target object, which has certain practical application value. (paper)