[1]HAN Zheng,LIU Huaping,HUANG Wenbing,et al.Kinect-based object grasping by manipulator[J].CAAI Transactions on Intelligent Systems,2013,8(2):149-155.[doi:10.3969/j.issn.1673-4785.201212038]
Copy

Kinect-based object grasping by manipulator

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 8 Number of periods: 2013 2 Page number: 149-155 Column: 学术论文—智能系统 Public date: 2013-04-25
Title:
Kinect-based object grasping by manipulator
Author(s):
HAN Zheng 1; 2;  LIU Huaping 2;  HUANG Wenbing 2;  SUN Fuchun 2;  GAO Meng 1
1. College of Electrical and Electronic Engineering, Shijiazhuang Railway University, Shijiazhuang 050043, China;
2. Key Laboratory of Intelligent Technology and Systems, Tsinghua University, Beijing 100084, China
Keywords:
Kinect;  target detection;  RRT;  inverse kinematics trajectory optimization;  manipulator
CLC:
TP242
DOI:
10.3969/j.issn.1673-4785.201212038
Abstract:
Kinect from Microsoft is often used in the robot system for target and real-time detection in unstructured environments. Background subtraction and frame difference algorithms based on the depth information collected by Kinect are used to obtain the information of the grasp point. A Rapidly-exploring Random Tree (RRT) algorithm based on the working space was used to carry out path plan of the end of manipulator, and gradient projection algorithm was used to do inverse kinematics trajectory optimization. The manipulator was able to accomplish object grasping tasks according to the joint angles. An experiment system was developed to verify the effectiveness of the proposed methods.
References:
［1］方勇纯. 机器人视觉伺服研究综述［J］. 智能系统学报, 2008, 3(2): 109-114.
FANG Yongchun. Summary of robot visual servo research［J］. CAAI Transactions on Intelligent Systems, 2008，3(2): 109-114.
［2］王麟琨, 徐德, 谭民. 机器人视觉伺服研究进展［J］. 机器人, 2004, 26(3): 277-282.
WANG Linkun, XU De, TAN Min. Progress of robot visual servo research［J］. Robot, 2004, 26(3): 277-282. 
［3］李亮. 机械手对目标物体的抓取［D］. 成都：西华大学, 2008：11. 
LI Liang. Manipulator crawl on the target object［D］. Sichuan: Xihua University, 2008：11. 
［4］GANGANATH N，LEUNG H. Mobile robot localization using odometry and Kinect sensor［C］//2010 IEEE International Conference on Emerging Signal Processing Applications (ESPA). NJ, USA, 2010: 91-94.
 ［5］ 庄佳园，徐玉如，万磊，等. 基于雷达图像的水面无人艇目标检测技术［J］. 哈尔滨工程大学学报，2012, 33（2）：129-135.
 ZHUANG Jiayuan, XU Yuru, WAN Lei, et al. Target detection of an unmanned surface vehicle based on a radar image［J］. Journal of Harbin Engineering University, 2012, 33(2)：129-135.
［6］RAKPRAYOON P, RUCHANURUCKS M, ADACOUNDOU L. Kinect-based obstacle detection for manipulator［C］//2011 IEEE/SICE International Symposium on System Integration (SII). NJ, USA: 2011: 68-73.
［7］李红波，丁林建，冉光勇. 基于Kinect深度图像的人体识别分析［J］. 数字通信，2012(4): 21-26.
 LI Hongbo, DING Linjian, RAN Guangyong. Human identification analysis of the depth of the image based on Kinect［J］. Digital Communications, 2012(4): 21-26.
［8］陆振. 冗余自由度机器人原理及应用［M］. 北京：机械工业出版社， 2006： 1.
［9］李跃，汪亚明，黄文清，等. 基于OpenCV 的摄像机标定方法研究［J］. 浙江大学学报， 2010, 27(3): 417-421.
 LI Yue, WANG Yaming, HUANG Wenqing, et al. Camera calibration technique based on OpenCV［J］. Journal of Zhejiang University, 2010, 27(03): 417-421.
［10］ZHANG Zhengyou. Flexible camera calibration viewing a plane from unknown orientations［C］//Proc International Conference on Computer Vision (ICCV’99). Corfu, Greece, 1999，1: 666-673.
 ［11］高文娟，李健.基于OpenCV 的摄像机标定问题研究［J］.计算机与数字工程, 2008, 36(12) : 128-130.
GAO Wenjuan, LI Jian. Research on camera calibration technique based on OpenCV［J］. Computer and Digital Engineering, 2008, 36(12): 128-130.
［12］刘睿祯，于仕琪.OpenCV教程［M］. 北京：北京航空航天大学出版社, 2009: 394-400.
［13］尚倩，阮秋琦，李小利. 双目立体视觉的目标识别与定位［J］. 智能系统学报, 2011, 6(4): 303-311.
SHANG Qian, RUAN Qiuqi, LI Xiaoli. Target identification and location of binocular stereo vision［J］. CAAI Transactions on Intelligent Systems, 2011, 6(4): 303-311.
［14］LIEGEOIS A. Automatic supervisory control of configuration and behavior of multibody mechanisms［C］//IEEE Trans Sys Man Cybernet. ［S.l.］，1977: 868-871.
［15］ZGHAL H， DUBEY R V, EULER J A. Efficient gradient projection optimization for manipulators with multiple degrees of redundancy［C］//Proc IEEE Int Con Robor and Automat. Cincinnati, USA, 1990, 2: 1006-1011. 
［16］LAVALLE S M, KUFFNER J. Randomized kinodynamic planning［C］//Proceedings of the 1999 IEEE International Conference on Robotics and Automation. Detroit, USA, 1999: 473-479. 
［17］LAVALLE S M, KUFFNER J J. RRT-Connect: an efficient approach to single-query path planning［C］//Proceedings of the 2000 IEEE International Conference on Robotics and Automation. San Francisco,USA, 2000: 998-1001. 
［18］BERTRAM D, KUFFNER J, DILLMANN R, et al. An integrated approach to inverse kinematics and path planning for redundant manipulators［C］//Proc IEEE International Conference on Robotics and Automation (ICRA). Orlando, USA, 2006: 1874-1879. 
Similar References:

Memo

-

Last Update: 2013-05-26

Copyright © CAAI Transactions on Intelligent Systems