Research on manipulator grasping method based on vision

摘要

Aiming at the problem that the manipulator cannot grasp the object accurately when the robot changes the position and pose of the object in the process of static grasping, a set of manipulator grasping method research based on vision is proposed. Firstly, a set of camera detection and robot grasping system model is built. Secondly, each coordinate system is created for the grasping system, and the transformation relation between each coordinate system, matrix model and the quantity that needs to be calibrated are introduced in detail. Thirdly, the trajectory function from the image coordinate system to the coordinates of the manipulator is obtained through the direct linear method calibration experiment. Finally, the experimental platform for camera detection and manipulator grasping objects based on xavis was built, and the grasping success rate of the experimental platform was tested. The experimental results show that the grasping error rate of the experimental platform is within the control range. Therefore, the manipulator grasping method based on vision is of reference significance for engineering applications.