[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]
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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:
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Kinect-based object grasping by manipulator
- Author(s):
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HAN Zheng 1; 2; LIU Huaping 2; HUANG Wenbing 2; SUN Fuchun 2; GAO Meng 1
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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
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- Keywords:
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Kinect; target detection; RRT; inverse kinematics trajectory optimization; manipulator
- CLC:
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TP242
- DOI:
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10.3969/j.issn.1673-4785.201212038
- Abstract:
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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.