基于PCL的Jaco机械臂的目标抓取

基于ROS机器人操作系统下的PCL点云库,建立了一个常见果蔬模型数据库。采用一种基于颜色和法线的分割方法对Kinect点云图像进行分割,实现了家庭果蔬的实时识别与定位。构建了基于PCL的机器人臂手系统,研究了Jaco机械臂的运动控制和目标抓取,最终实现了目标物体的安全抓取。

PCL-based Object Grasping by Robot Arm Hand System

Based on the PCL point cloud library under the ROS robot system,this paper establishes a database of household common fruits and vegetables models.Using a color-based and normal-based segmentation method to segment the Kinect point cloud image,real-time identification and localization of family fruits and vegetables is successfully achieved.A robotic arm hand system based on PCL is constructed,and the motion control and target grabbing of the Jaco robotic arm is studied.Finally,the safely object grasping is achieved.