ROS-BASED MECHANICAL ARM GRABBING METHOD AND SYSTEM

摘要

A ROS-based mechanical arm grabbing method and system. An implementation process comprises: configuring a use environment of a camera (20) on an upper computer (10), and then disposing the camera (20) above or laterally above an object to be grabbed and obtaining an image of the object to be grabbed that contains a positioning mark; inputting the image to the upper computer (10); reading the image of the camera (20) and performing data processing by using a particular algorithm to obtain spatial pose information of the object to be grabbed at mechanical arm coordinates; and giving a motion information queue and sending same to a lower computer (30). The lower computer (30) receives and parses the motion information queue sent by the upper computer (10), and drives a mechanical arm to perform a grabbing operation according to a preset action. The ROS-based mechanical arm grabbing method and system can effectively utilize the powerful processing operation capability of the upper computer (10), readily implement layout of the mechanical arm and the upper computer (10) and collaborative operation of multiple mechanical arms, and easily implement motion planning of the mechanical arms by using a ROS, and thus have a wide application prospect.