关键词: 手眼协调, 无标定, 三维环境感知, 计算几何, 机器人

Abstract:

Intelligent robots are different from the fixed task robots on the industrial assembly line. They often need to face a variety of uncertainties, such as the background, the shape, position, posture and size of the target object. This requires that the robot can have excellent hand eye coordination ability like us, and adjust its actions based on dynamic feedback. In this paper, a 3D depth information acquisition method based on RGB-D camera is used to construct a hand eye coordination method for uncalibrated variable scene robot. It can understand the 3D scene by using geometric relations, track and segment the end effector and the object to be grasped in real time, calculate the pose of the end effector without 3D model, and calculate the pose of the gripper. After the relative displacement vector of the gripper and the target object in the camera coordinate system, the relative displacement vector is transformed from the camera coordinate system to the gripper coordinate system, and the pose transformation matrix of the gripper is estimated, and the homogeneous transformation matrix is input into the inverse kinematics program of the manipulator to solve the corresponding joint torsion angles of the manipulator, so as to drive the gripper to point or move to the object. This method has the advantages of less hardware resource requirement, fast computing speed and good real-time performance.

Key words: hand-eye coordination, uncalibrated, 3D environment perception, computational geometry, robot