【摘要】 在许多自动化应用场合中,如分拣和上、下料等过程中,机械臂抓取是非常重要的一个环节。在有遮挡或物体杂乱放置的情况下,对物体进行可靠、快速和精确计算位姿是机械臂抓取的难题之一。该文提出一种针对非规则目标的3D视觉引导抓取系统。首先,该系统运用面结构光系统对目标进行高精度三维重建,并建立离线3D点云模板库;然后,将标准模板与点云预处理后的场景点云进行匹配,得到匹配参数后,由坐标系之间的转换矩阵计算机器手抓取位姿;最后,引导机器手完成对目标物体的抓取。实验结果表明,所开发的机械臂抓取系统能够对非规则目标进行可靠、快速和精确的抓取。更多还原

【Abstract】 Robot bin-picking system is an important component in many automation applications, such as sorting, loading, and unloading. However, it is difficult to calculate the pose of object reliably, quickly, and accurately in the environment where the object is obscured or placed disorderly. This paper proposes a 3D vision-guided bin-picking system for free-form objects. In this system, the structured light systems are used to carry out high-precision 3D reconstruction of the targets and to establish the off-line 3D template library. Furthermore, standard template is matched with the point cloud of the scene after preprocessing. After the matching parameters are obtained, the robot’s posture is calculated by the transformation matrix between the coordinate systems, and the robot is guided to complete the grasp of the target object. Experimental results show that the robot bin-picking system can grasp irregular targets reliably, quickly, and precisely.更多还原