基于Kinect的机器人臂手系统的目标抓取

doi:10.3969/j.issn.1007-2861.2016.04.008

Journal of Shanghai University（Natural Science Edition） ›› 2016, Vol. 22 ›› Issue (4): 421-431.doi: 10.3969/j.issn.1007-2861.2016.04.008

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Kinect-based object grasping by robot arm hand system

DING Meikun, XU Yulin, JIANG Caijun, RAN Peng

School of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200072, China

Received:2015-03-25 Online:2016-08-30 Published:2016-08-30

Abstract

Abstract:

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.

Key words: changing integration PID , depth segmentation , dexterous hand, Kinect calibration

DING Meikun, XU Yulin, JIANG Caijun, RAN Peng. Kinect-based object grasping by robot arm hand system[J]. Journal of Shanghai University（Natural Science Edition）, 2016, 22(4): 421-431.

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Kinect-based object grasping by robot arm hand system

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