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成果归属企业: 深圳大学

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成果介绍

本发明公开了一种基于三维测量引导机械臂抓取散乱堆叠工件的方法及系统。方法包括：通过三维测量系统获得手眼标靶的二维图像和三维点云数据，然后根据手眼标靶的三维点云数据获得各标靶点在相机坐标系下的空间坐标，再根据各标靶点在相机坐标系下的空间坐标以及在机械臂坐标下的空间坐标，得到手眼关系矩阵，并将该手眼关系矩阵应用于具体场景中的目标工件的抓取，通过三维测量系统获取目标工件的二维图像和三维点云数据，然后获取目标工件在相机坐标系下的空间坐标，通过手眼关系矩阵，可获得目标工件在机械臂坐标系下的空间坐标，再通过粗匹配操作和精匹配操作得到所述目标工件的精准位置和姿态，即可实现控制机械臂对目标工件进行精准抓取。

成果应用案例介绍

机械设备>工件>工件; 测量实验>测量方法>三维测量; 计算控制>机械臂>引导机械臂

联系方式

电话/微信: 13822630888

相关成果

免责声明 / 网站地图 / 平台简介 / 友情链接

邮箱：zeccea@qq.com QQ群：318441538 客服电话：0758-2721389 秘书处电话/微信：13822630888

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