[1]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(3):307-312.[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(3):307-312.[doi:10.3969/j.issn.1673-4785.201308019]
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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]
采用Kinect的多臂协调操作系统
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
9
期数:
2014年第3期
页码:
307-312
栏目:
学术论文—智能系统
出版日期:
2014-06-25
- Title:
- Kinect-based dobby coordinate operating system
- Keywords:
- Kinect; particle filter; dual path; trajectory planning; visual servoing
- 分类号:
- TP242
- 摘要:
- 为完成基于Kinect的多臂协调精细操作的任务, 搭建了一套双机械臂操作系统, 利用Kinect作为视觉传感器对场景进行实时检测, 并利用基于工作空间的RRT算法对其中一台七自由度机械臂末端进行路径规划完成目标的自主抓取。根据手眼协调控制技术, 利用另外一台六自由度机械臂末端的摄像机采集的图像误差控制机械臂的运动, 并利用粒子滤波算法对目标进行实时跟踪。通过设计一套双臂协作完成物体交接的实验系统, 完成了多臂协同操作的任务, 并验证了实验方法的可靠性。
- 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.
- 参考文献/References:
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备注/Memo
收稿日期:2013-08-12。
基金项目:国家"973"计划资助项目(G2013CB329403);国家自然科学基金资助项目(91120011);清华大学自主科研计划资助项目(2011THZ0)
作者简介: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;孙富春,男,教授,博士生导师,IEEE 高级会员中国人工智能学会理事、智能控制与智能管理专业委员会副主任兼秘书长,主要研究方向为智能控制、机器人与飞行器的导航与控制、网络控制系统、人工认知系统的信息感知和处理等。曾获全国优秀博士论文奖、北京市科学技术进步二等。发表学术论文 120余篇,其中被 SCI检索 52 篇。
通讯作者:张雪华,女,1988年生,硕士研究生,主要研究方向为智能控制及机器人,E-mail:lovelywaiwai1988@sina.cn。
更新日期/Last Update:
1900-01-01