To realize the automatic
capture and positioning of segments, a depth-image
vision sensor is explored based on a 1P5R single-arm
erector. The performance of a binocular three-dimensional
(3D) sensor and a planar-structured light 3D sensor is
compared and analyzed. The depth images captured by the vision sensor are
matched with a segment model to determine the segment position and attitude.
The hand-eye calibration of the vision sensor and
segment erector is conducted to obtain the conversion matrix between their
respective coordinate systems. The forward and inverse kinematics of the single-arm erector are derived using the robotic kinematics method. Six-axis travel required for grasping segments is realized by inverting
the position and attitude of the segment, and a trajectory-planning algorithm is developed from the current six-axis travel to the target travel. Research and laboratory
experiments reveal the following: (1) Position and attitude can be effectively
obtained using the depth-image sensor and calibration.
(2) The forward and inverse kinematic solutions can effectively guide the
erector to realize automatic segment grasping using the position and attitude
information.
ZHUANG Qianwei
,
ZHU Yanfei
,
YU Ning
,
HUANG Dezhong
,
YANG Zheng
,
MA Zhigang
,
YUAN Weihao
. Experimental Study of
Automatic Segment Grasping Based on Depth-Image Pose Recognition and Kinematic Mechanisms[J]. Tunnel Construction, 2024
, 44(11)
: 2133
-2138
.
DOI: 10.3973/j.issn.2096-4498.2024.11.003
