[1]ZHANG Xuehua,LIU Huaping,SUN Fuchun,et al.Kinect-based dobby coordinate operating system[J].CAAI Transactions on Intelligent Systems,2014,9(3):307-312.[doi:10.3969/j.issn.1673-4785.201308019]
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Kinect-based dobby coordinate operating system

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 9 Number of periods: 2014 3 Page number: 307-312 Column: 学术论文—智能系统 Public date: 2014-06-25
Title:
Kinect-based dobby coordinate operating system
Author(s):
ZHANG Xuehua1; 2;  LIU Huaping2;  SUN Fuchun2;  GAO Meng1;  HAN Zheng1; 2
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; particle filter; dual path; trajectory planning; visual servoing
CLC:
TP242
DOI:
10.3969/j.issn.1673-4785.201308019
Abstract:
Using Kinect and mechanical arm, we build a dual-arm accurate operation system in which Kinect is used for real-time scene dection and a work-space based RRT algorithm is proposed to plan the path for the 7-DOF arm’s target grabbing. A camera at the end of the other 6-DOF arm is used to control the arm tracking the target. The method used for optical target tracking is particle filter-based algorithm and the difference between the target position in the image and the image center is used for controling the arm. In order to test the system, a dual-arm cooperation object transfer experiment was proceed and the successful experient result proved the reliability and efficience of the system.
References:
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