Vision-guided manipulator operating system based on CSRT algorithm Online publication date: Thu, 25-Aug-2022
by Suwan Bu; Liang Yan; Xiaoshan Gao; Peiran Zhao; Chee Kian Lim
International Journal of Hydromechatronics (IJHM), Vol. 5, No. 3, 2022
Abstract: This paper proposed a vision guided robot operating system based on channel and spatial reliability tracker (CSRT) algorithm to improve its environmental adaptability. Firstly, the kinematics and inverse kinematics models of the manipulator are deduced, and the transformation matrices of position and orientation between the joint axes are obtained. Then the imaging model and distortion model of the camera are established, and the whole manipulator system is calibrated. The transformation matrix between pixel coordinate system and base coordinate system is obtained. Following that, the target position is determined and tracked by CSRT algorithm. Two experiments are conducted on the developed CSRT algorithm. One validated the adaptability of CSRT algorithm to the environment under normal and weak light conditions, and the other show that the visual guided manipulator grasping system with the algorithm can complete the grasping task well.
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