[1]韩峥,刘华平,黄文炳,等.基于Kinect的机械臂目标抓取[J].智能系统学报,2013,8(02):149-155.[doi:10.3969/j.issn.1673-4785.201212038]
　HAN Zheng,LIU Huaping,HUANG Wenbing,et al.Kinect-based object grasping by manipulator[J].CAAI Transactions on Intelligent Systems,2013,8(02):149-155.[doi:10.3969/j.issn.1673-4785.201212038]
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基于Kinect的机械臂目标抓取(/HTML)
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第8卷
期数:
2013年02期
页码:
149-155
栏目:
学术论文—智能系统
出版日期:
2013-04-25

文章信息/Info

Title:
Kinect-based object grasping by manipulator
文章编号:
1673-4785(2013)02-0149-07
作者:
韩峥 1; 2; 刘华平 2; 黄文炳 2; 孙富春 2; 高蒙 1
1.石家庄铁道大学 电气与电子工程学院，河北 石家庄 050043；
 2. 清华大学 智能技术与系统国家重点实验室，北京 100084
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
关键词:
Kinect; 目标检测; RRT; 逆运动学轨迹优规; 机械臂
Keywords:
Kinect;  target detection;  RRT;  inverse kinematics trajectory optimization;  manipulator
分类号:
TP242
DOI:
10.3969/j.issn.1673-4785.201212038
文献标志码:
A
摘要:
为完成机械臂在非特定环境下的自主抓取，系统采用微软公司研发的Kinect对场景内的信息进行实时检测.通过对Kinect采集的深度信息进行背景相减法和帧差法处理可以获得目标抓取点信息.利用基于工作空间的RRT算法对机械臂末端进行路径规划，并利用梯度投影法进行逆运动学轨迹优化，求解关节轨迹.机械臂按照关节角运动时，可完成目标的抓取.通过设计一套实时桌面清理实验系统，验证了该方法的有效性.
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.

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备注/Memo

备注/Memo:
收稿日期：2013-01-04.
网络出版日期： 2013-03-26. 
基金项目：国家自然科学基金资助项目（61075027）.
通信作者：韩峥.
 E-mail：hanzheng1212@126.com.
作者简介：
韩峥，女，1986年生，硕士研究生，主要研究方向为智能控制及机器人.
刘华平，男，1976年生，副教授，主要研究方向为智能控制及机器人、计算机视觉等.
黄文炳，男，1989年生，博士研究生，主要研究方向为智能控制及机器人.
更新日期/Last Update: 2013-05-26