System Development & Application
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App. Res. of Comp. Printed Article
Vol. 38, 2021 No. 10
3093-3097

Visual grasping method of rope-drive manipulator using IMask R-CNN

Yuan Yuana
Chen Yua
Zhou Qinghuab
Jiang Minga
He Shiqionga
a. College of Electronics & Information Engineering, b. School of Aeronautics & Astronautics, Sichuan University, Chengdu 610065, China
DOI: 10.19734/j.issn.1001-3695.2021.03.0082

Abstract

Rope-driven super-redundant manipulator has the characteristics of strong flexibility and large working space, which can be employed for various aviation operations in space activities to replace astronauts. Based on the research background of spacecraft on-orbit maintenance, this paper simulated the corresponding experimental environment, and designed a RGB-D-based mobile rope-driven super-redundant robotic arm positioning and grasping system. First, it improved Mask R-CNN algorithm to reduce the model size and ensure the detection accuracy. Then it input the image collected by Intel RealSense D435i to the target detection model to obtain the target category and position information. Further it used the adaptive end position update algorithm to recursively calculate the forward and inverse kinematics model of the manipulator, and combined the trajectory planning to complete the three-dimensional space positioning and grasping of the target. The experimental results show that the improved Mask R-CNN algorithm can effectively reduce the model size while ensuring accuracy. Moreover, the inverse kinematics of the grasping system is solved quickly with good positioning accuracy, and can effectively complete the aircraft grasp task.

Foundation Support

国家自然科学基金面上项目(51875373)
四川省科技计划资助项目(2019YJ0093)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2021.03.0082
Publish at: Application Research of Computers Printed Article, Vol. 38, 2021 No. 10
Section: System Development & Application
Pages: 3093-3097
Serial Number: 1001-3695(2021)10-037-3093-05

Publish History

[2021-10-05] Printed Article

Cite This Article

袁媛, 陈雨, 周青华, 等. 结合IMask R-CNN的绳驱机械臂视觉抓取方法研究 [J]. 计算机应用研究, 2021, 38 (10): 3093-3097. (Yuan Yuan, Chen Yu, Zhou Qinghua, et al. Visual grasping method of rope-drive manipulator using IMask R-CNN [J]. Application Research of Computers, 2021, 38 (10): 3093-3097. )

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  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
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Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

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