摘要
针对采用传统面向快速与旋转的二进制鲁棒独立基本特征(Oriented Fast and Rotated BRIEF,ORB)算法难以实现搭载双目立体视觉的机械臂对目标的实时、精准抓取等问题,提出一种基于改进的ORB算法的机械臂识别定位及抓取方法。首先,利用改进的ORB算法对目标进行识别,根据双目立体视觉光轴平行模型对目标实施定位;随后,运用标准D-H参数法建立机械臂的数学模型并进行逆运动学求解;最后,将获得的机械臂各关节驱动角传输至系统控制端,驱使机械臂末端执行器完成对目标的抓取作业。结果表明,提出的改进的ORB算法较传统ORB算法提高了目标识别定位的速度与准确度,有效提升了机械臂实施抓取时的实时性与精确性。
Aiming at the problem that the traditional ORB algorithm is difficult to realize the real-time and accurate grasp of the object by the robotic arm equipped with the binocular stereo vision,a robotic arm recognition and grasping method based on an improved ORB algorithm was proposed.Firstly,the improved ORB algorithm was used to identify the target,and then the target was positioned according to the binocular stereo vision optical axis parallel model.Then,the mathematical model of the robotic arm was established by using the standard D-H parameter method,and the inverse kinematics was solved.Finally,the obtained drive angles of each joint of the robotic arm were transmitted to the control end of the system.The end effector of the robotic arm was driven to complete the grasp of the target.The results show that compared with the traditional ORB algorithm,the improved ORB algorithm in this study can improve the speed and accuracy of target recognition and positioning,and effectively improve the real-time and accurate grasping of the robotic arm.
作者
李鑫炎
周敏
Li Xinyan;Zhou Min(Key Laboratory of Metallurgical Equipment and Control of Ministry of Education,Wuhan University of Science and Technology,Wuhan 430081,China;Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering,Wuhan University of Science and Technology,Wuhan 430081,China;Precision Manufacturing Research Institute,Wuhan University of Science and Technology,Wuhan 430081,China)
出处
《机械传动》
北大核心
2024年第10期11-18,共8页
Journal of Mechanical Transmission
基金
国家自然科学基金项目(51975431)。
关键词
改进的ORB算法
双目立体视觉
目标识别
目标抓取
Improved ORB algorithm
Binocular stereo vision
Target recognition
Target grasping
