Automatic grasping of 3-DOF robotic arm based on visual feedback

摘要

This paper introduces the design of a three-degree-of-freedom robotic arm grasping object system based on visual feedback. In this system, an OpenCV open source library is used in image processing to identify the position of the object to be captured on the image. The world coordinate system is established, and the geometric modeling method is used to invert the three-degree-of-freedom robotic arm, so as to solve the angle of each joint at different positions. The least square method is used to convert the image position coordinates of the target object into the robotic gripper coordinates in the world coordinate system. The trajectory planning is carried out according to the current position of the robotic gripper and the position of the target object. At last, the robotic arm is controlled by a microcomputer to realize the function of grabbing objects. The experimental results show that the system has high accuracy in object recognition and can accurately grasp the target object.