双臂单球面轮式移动机器人的目标识别与协同拾取

Q4 Computer Science

International Journal of Automation and Smart Technology Pub Date : 2018-03-01 DOI:10.5875/AUSMT.V8I1.1574

J. Tang, Ching-Chih Tsai, Feng-Chun Tai

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引用次数: 1

摘要

介绍了一种七自由度双臂单球面轮式移动机器人的目标识别与协同拾取技术和方法。通过求解双臂的运动学逆解，实时进行在线运动规划，实现双臂协同完成拾取任务。为了使ssmr保持稳定状态以执行期望的任务，机器人配备了一个使用四条腿来支撑静稳定性的升降平台。利用图像处理和模式识别的方法，开发基于OpenCV和OpenNI库的应用程序，对想要抓的物体进行识别和定位。仿真和实验结果成功地说明了所提出的技术。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Object Recognition and Cooperative Pick-and-Place of a Single Spherical Wheeled Mobile Robot with Dual Arms

This paper presents techniques and methodologies for object recognition and cooperative pick-and-place of a single spherical wheeled mobile robot (SSWMR) with seven-degrees-of-freedom (7-DoF) dual arms. Both arms are cooperatively used to achieve a pick-and-place task by solving the inverse kinematics of both arms and performing on-line motion planning in real time. To maintain the SSWMR in a stable state to carry out the desired task, the robot is equipped with a lifting platform using four legs to support static stability. Image processing and pattern recognition methods are used to develop application programs based on the OpenCV and OpenNI library to recognize and locate desired objects to be grasped. Simulation and experimental results are used for successful illustration of the proposed techniques.

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来源期刊

International Journal of Automation and Smart Technology Engineering-Electrical and Electronic Engineering

CiteScore

0.70

自引率

0.00%

发文量

审稿时长

16 weeks

期刊介绍： International Journal of Automation and Smart Technology (AUSMT) is a peer-reviewed, open-access journal devoted to publishing research papers in the fields of automation and smart technology. Currently, the journal is abstracted in Scopus, INSPEC and DOAJ (Directory of Open Access Journals). The research areas of the journal include but are not limited to the fields of mechatronics, automation, ambient Intelligence, sensor networks, human-computer interfaces, and robotics. These technologies should be developed with the major purpose to increase the quality of life as well as to work towards environmental, economic and social sustainability for future generations. AUSMT endeavors to provide a worldwide forum for the dynamic exchange of ideas and findings from research of different disciplines from around the world. Also, AUSMT actively seeks to encourage interaction and cooperation between academia and industry along the fields of automation and smart technology. For the aforementioned purposes, AUSMT maps out 5 areas of interests. Each of them represents a pillar for better future life: - Intelligent Automation Technology. - Ambient Intelligence, Context Awareness, and Sensor Networks. - Human-Computer Interface. - Optomechatronic Modules and Systems. - Robotics, Intelligent Devices and Systems.