Research on simulated visual control of robotic arm in ROS environment

Minghong Qin; Xinwei Wang; Li Mu; Sihan Liu; Jiaxin Hu

doi:10.1117/12.3030665

5 June 2024 Research on simulated visual control of robotic arm in ROS environment

Minghong Qin, Xinwei Wang, Li Mu, Sihan Liu, Jiaxin Hu

Proceedings Volume 13163, Fourth International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024); 131638F (2024) https://doi.org/10.1117/12.3030665
Event: International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024), 2024, Xi'an, China

Abstract

Traditional robotic arms often lack sufficient perceptual capabilities and flexibility in dynamic working environments. To address this issue, this paper proposes integrating visual sensors into the robotic arm system to ensure real-time scene information acquisition, thereby enhancing the real-time operational capabilities of the robotic arm. Built a simulation model for visually guided robotic arm in the ROS environment. Conducted a joint simulation using Rviz and Gazebo, completing the modeling and simulation of the robotic arm and MV-DB500S-R camera. Implemented the guidance of the robotic arm's grasping path based on visual recognition results through the ROS node communication mechanism. The effectiveness of the proposed method was verified through simulation results.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Minghong Qin, Xinwei Wang, Li Mu, Sihan Liu, and Jiaxin Hu "Research on simulated visual control of robotic arm in ROS environment", Proc. SPIE 13163, Fourth International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024), 131638F (5 June 2024); https://doi.org/10.1117/12.3030665

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