基于ROS的七自由度机械臂抓取系统研究

ROS-Based 7-DOF Manipulator Grasping System

中文关键词:  七自由度  机械臂  ROS  智能抓取

英文关键词:7-DOF  manipulator  ROS  intelligent grasping

中文摘要:

      针对移动机器人上的七自由度机械臂进行系统设计，以完成目标检测、跟踪和抓取等工作。该系统包括上位机、图像采集设备和机械臂控制三大部分，在ROS Kinetic框架下让Franka Panda机械臂和Kinect V1摄像头协同工作。采用Linemod方法提取图像特征，可在较短训练时间内从RGBD信息中得到物体的信息、位姿和可信度，同时根据Franka Panda机械臂的结构建立D-H参数表、进行正运动学分析，并提出使用几何法来求Franka Panda的逆解。对机械臂进行了轨迹规划分析，提出改进RRT*的路径规划算法和轨迹规划总体方案。最后进行了机械臂仿真和系统抓取实验，研究结果表明使用的方法合理，系统可完成目标检测、定位和抓取任务。

英文摘要:

      The system is designed for a 7-DOF manipulator on a mobile robot to complete tasks such as target detection,tracking and grasping.The system includes three parts of host computer,image acquisition equipment and robotic arm control.It works with Franka Panda and Kinect V1 under the ROS Kinetic framework.The Linemod method is used to extract image features,and the information,pose and credibility of the object can be obtained from the RGBD information in a short training time.The D-H parameter table and the positive kinematics analysis are established according to the structure of the Franka Panda manipulator,and the geometric method is used to find the inverse solution of Franka Panda.An improved RRT* path planning algorithm and an overall plan for trajectory planning are proposed.The manipulator simulation and system grasping experiment are carried out.The research results show that the method is reasonable and the system can complete the target detection,positioning and grasping tasks.