Design of classification grasping algorithm for robot based on color information

Qi Zhang; Yan Li; Jueyu Wu

doi:10.1117/12.2684725

21 July 2023 Design of classification grasping algorithm for robot based on color information

Qi Zhang, Yan Li, Jueyu Wu

Proceedings Volume 12717, 3rd International Conference on Artificial Intelligence, Automation, and High-Performance Computing (AIAHPC 2023); 127173I (2023) https://doi.org/10.1117/12.2684725
Event: 3rd International Conference on Artificial Intelligence, Automation, and High-Performance Computing (AIAHPC 2023), 2023, Wuhan, China

Abstract

In order to solve the problem of low grasping accuracy due to the influence of ambient light in the recognition of existing intelligent cooperative robots, an algorithm of classification grasping, and placement based on color information is proposed. The improved HSV (Hue, Saturation, Value) color space method is incorporated to identify the target object to reduce the impact of environmental light. Secondly, the Canny edge algorithm and the minimum circumscribed rectangle are used to identify the location of the placement area and the position and posture of the target grasping object, so as to determine the grasping center. Finally, the grasping process of the manipulator is optimized to improve the grasping accuracy. The whole algorithm is verified in the Baxter experimental platform of two-arm cooperative robot, and the experimental results show that the grasping accuracy can reach 97% and has strong robustness, which confirms that the experiment has a decisive case reference value for the research of intelligent cooperative robot and intelligent grasping of industrial manipulator.

Citation Download Citation

Qi Zhang, Yan Li, and Jueyu Wu "Design of classification grasping algorithm for robot based on color information", Proc. SPIE 12717, 3rd International Conference on Artificial Intelligence, Automation, and High-Performance Computing (AIAHPC 2023), 127173I (21 July 2023); https://doi.org/10.1117/12.2684725

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