3D object detection combined with inverse kinematics to achieve robotic arm grasping

摘要

In recent years, the research of autonomous robotic arms has received high attention from academia and industry, so this thesis aims to develop a visual detection system for robotic arms to grasp and place objects. Object detection technology The purpose of which is to locate objects of interest (target) in a given image, providing object location bounding boxes and categories. ROS is a set of open-source software libraries designed to simplify the creation of complex and robust on various robotic platforms. the task of the robot behavior. The proposed scheme uses a camera with depth information and combines target localization and edge detection algorithms to accurately measure the relative distance between the object and the robot arm. The process includes deep neural network construction and use, robotic arm positioning, object bounding box position information, and robotic arm movement control. Considering the visual scale, the relative distance between the target and the robotic arm is calculated so that the robotic arm can grasp the target and place the object in a specific position. This paper introduces how to combine the deep learning object detection model and ROS moveit! to complete the object identification and grasp and place the robotic arm.