关键词: 三维形貌测量, 机械臂, 条纹投影, 几何姿态解算, 智能抓取

Abstract: An intelligent grasp and classification system of manipulator with three-dimensional stereo vision is developed by using industrial camera, industrial projector, ordinary camera, computer and robot arm. The system realizes the automatic control and synchronization of industrial camera and industrial projector by using self-compiled software. The height information of object is obtained by the method of double-wavelength fringe projection three-dimensional topography measurement proposed in the previous research. The two-dimensional parallel plane information of object is obtained by combining opencv technology and ordinary camera, and the automatic recognition of objects is realized. The data are transmitted to the manipulator by serial communication protocol. The intelligent grasp is realized by calculating the geometric attitude of the manipulator. The grasping degree can be adjusted automatically according to the pressure feedback on the gripper. Experiments prove that the system can capture objects of arbitrary shape within the working range accurately and quickly, and can classify the objetcts intelligently by its own fast 3D shape acquisition device.

Key words: 3D shape measurement, robot arm, fringe projection, geometric attitude calculation, intelligent grasp