收稿日期: 2015-03-25
网络出版日期: 2016-08-30
基金资助
上海市产学研合作项目(CXY-2013-28)
Kinect-based object grasping by robot arm hand system
Received date: 2015-03-25
Online published: 2016-08-30
丁美昆, 徐昱琳, 蒋财军, 冉鹏 . 基于Kinect的机器人臂手系统的目标抓取[J]. 上海大学学报(自然科学版), 2016 , 22(4) : 421 -431 . DOI: 10.3969/j.issn.1007-2861.2016.04.008
To realize automatic object grasping by a robot arm hand system, Kinect is used for real-time detection of the object. The Zhang Zhenyou chessboard method is applied to calibrate the intrinsic and external parameters of the Kinect. Depth segmentation is done to filter out most of the background interference, and identification and location of object are achieved based on the color and shape features. The object’s 3D coordinates is sent to the manipulator console to locate the target position through TCP/IP communication. A changing integration PID algorithm is applied to achieve fast and accurate grasp by controlling pressure on the dexterous hand. An experiment system is developed to verify effectiveness of the proposed methods.
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