字符串 ') and Issue_No=(select Issue_No from OA where Script_ID=@Script_ID) order by ID ' 后的引号不完整。 ') and Issue_No=(select Issue_No from OA where Script_ID=@Script_ID) order by ID ' 附近有语法错误。 基于Kinect的机械臂目标抓取-《智能系统学报》

[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]
点击复制

基于Kinect的机械臂目标抓取(/HTML)
分享到:

《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:
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 12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 12 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.

参考文献/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. 

相似文献/References:

[1]胡光龙,秦世引.动态成像条件下基于SURF和Mean shift的运动目标高精度检测[J].智能系统学报,2012,7(01):61.
 HU Guanglong,QIN Shiyin.High precision detection of a mobile object under dynamic imaging based on SURF and Mean shift[J].CAAI Transactions on Intelligent Systems,2012,7(02):61.
[2]贺超,刘华平,孙富春,等.采用Kinect的移动机器人目标跟踪与避障[J].智能系统学报,2013,8(05):426.[doi:10.3969/j.issn.1673-4785.201301028]
 HE Chao,LIU Huaping,SUN Fuchun,et al.Target tracking and obstacle avoidance of mobile robot using Kinect[J].CAAI Transactions on Intelligent Systems,2013,8(02):426.[doi:10.3969/j.issn.1673-4785.201301028]
[3]雷丽充,刘华平,孙富春,等.面向灵巧操作的视觉目标识别[J].智能系统学报,2015,10(01):37.[doi:10.3969/j.issn.1673-4785.201311050]
 LEI Lichong,LIU Huaping,SUN Fuchun,et al.Visual object recognition for smart manipulation[J].CAAI Transactions on Intelligent Systems,2015,10(02):37.[doi:10.3969/j.issn.1673-4785.201311050]
[4]林海波,王浩,张毅.改进高斯核函数的人体姿态分析与识别[J].智能系统学报,2015,10(03):436.[doi:10.3969/j.issn.1673-4785.201405049]
 LIN Haibo,WANG Hao,ZHANG Yi.Human postures recognition based on the improved Gauss kernel function[J].CAAI Transactions on Intelligent Systems,2015,10(02):436.[doi:10.3969/j.issn.1673-4785.201405049]
[5]韩延彬,郭晓鹏,魏延文,等.RGB和HSI颜色空间的一种改进的阴影消除算法[J].智能系统学报,2015,10(5):769.[doi:10.11992/tis.201410010]
 HAN Yanbin,GUO Xiaopeng,WEI Yanwen,et al.An improved shadow removal algorithm based on RGB and HSI color spaces[J].CAAI Transactions on Intelligent Systems,2015,10(02):769.[doi:10.11992/tis.201410010]
[6]曾宪华,易荣辉,何姗姗.流形排序的交互式图像分割[J].智能系统学报,2016,11(1):117.[doi:10.11992/tis.201505037]
 ZENG Xianhua,YI Ronghui,HE Shanshan.Interactive image segmentation based on manifold ranking[J].CAAI Transactions on Intelligent Systems,2016,11(02):117.[doi:10.11992/tis.201505037]
[7]张雪华,刘华平,孙富春,等.采用Kinect的移动机器人目标跟踪[J].智能系统学报,2014,9(01):34.[doi:10.3969/j.issn.1673-4785.201305080]
 ZHANG Xuehua,LIU Huaping,SUN Fuchun,et al.Target tracking of mobile robot using Kinect[J].CAAI Transactions on Intelligent Systems,2014,9(02):34.[doi:10.3969/j.issn.1673-4785.201305080]
[8]张雪华,刘华平,孙富春,等.采用Kinect的多臂协调操作系统[J].智能系统学报,2014,9(03):307.[doi:10.3969/j.issn.1673-4785.201308019]
 ZHANG Xuehua,LIU Huaping,SUN Fuchun,et al.Kinect-based dobby coordinate operating system[J].CAAI Transactions on Intelligent Systems,2014,9(02):307.[doi:10.3969/j.issn.1673-4785.201308019]
[9]葛园园,许有疆,赵帅,等.自动驾驶场景下小且密集的交通标志检测[J].智能系统学报,2018,13(03):366.[doi:10.11992/tis.201706040]
 GE Yuanyuan,XU Youjiang,ZHAO Shuai,et al.Detection of small and dense traffic signs in self-driving scenarios[J].CAAI Transactions on Intelligent Systems,2018,13(02):366.[doi:10.11992/tis.201706040]
[10]蔡军,陈科宇,张毅.基于Kinect的改进移动机器人视觉SLAM[J].智能系统学报,2018,13(05):734.[doi:10.11992/tis.201705018]
 CAI Jun,CHEN Keyu,ZHANG Yi.Improved V-SLAM for mobile robots based on Kinect[J].CAAI Transactions on Intelligent Systems,2018,13(02):734.[doi:10.11992/tis.201705018]

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