非结构环境下基于人机合作技术的抓取作业研究

Research on Grasping Operation Based on Human-Machine Cooperation Techniques in Unstructured Environment

摘要: 介绍了一种利用人机合作技术在非结构环境引导机械手抓取静态目标的方法．分别介绍了将激光—CCD摄像机系统与操作者的经验相结合获得抓取目标位置的方法，及将虚拟现实技术与操作者的经验相结合获得抓取目标姿态的方法．继而利用基于模型的视觉引导技术，引导手臂完成抓取操作．

Abstract: This paper provides a method to grasp static objects in unstructured environment with a manipulator guided by human-machine cooperation techniques.With the help of human experiences,a method to get the "grasping position" of object by using "laser-CCD camera" system and a method to get "grasping pose" of object by using virtual reality techniques are introduced respectively.Then,the visual guiding technique based on model is applied to guide the arm to complete the grasping task.