|Table of Contents|

Autonomous manipulator for button pressing based onvisual recognition(PDF)

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

Issue:
2017年05期
Page:
616-
Research Field:
Publishing date:

Info

Title:
Autonomous manipulator for button pressing based onvisual recognition
Author(s):
Huang JingjingTao WeijunHu YangyangLiu JiayaoDing Linxiang
School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China
Keywords:
autonomous manipulators visual recognition botton pressing support vector machine visual positioning
PACS:
TP241
DOI:
10.14177/j.cnki.32-1397n.2017.41.05.013
Abstract:
According to requirements of the autonomous button pressing of the robot,the four-degree of freedom(4-DOF)autonomous manipulator for button pressing of the robot is developed based on the visual recognition.The mechanical structure and control system of the manipulator are designed according to its functional requirements,the kinematic is solved by using the geometric method,and the movement trajectory is planned.The support vector machine(SVM)is used to train and predict the image samples of the buttons,and the buttons are positioned visually.Lastly,a prototype of the manipulator is developed.The experiment results of button recognition,manipulator positioning and button pressing show that,the success rate of the button recognition of the manipulator sample is 94%,the positioning accuracy of the manipulator control system is 10 mm,and the developed 4-DOF manipulator can press the target button autonomously.

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Last Update: 2017-09-30