CAJ | 학술논문

　　为完成机械臂在非特定环境下的自主抓取，系统采用微软公司研发的 Kinect 对场景内的信息进行实时检测。通过对 Kinect 采集的深度信息进行背景相减法和帧差法处理可以获得目标抓取点信息。利用基于工作空间的RRT 算法对机械臂末端进行路径规划，并利用梯度投影法进行逆运动学轨迹优化，求解关节轨迹。机械臂按照关节角运动时，可完成目标的抓取。通过设计一套实时桌面清理实验系统，验证了该方法的有效性。
　　위완성궤계비재비특정배경하적자주조취，계통채용미연공사연발적 Kinect 대장경내적신식진행실시검측。통과대 Kinect 채집적심도신식진행배경상감법화정차법처리가이획득목표조취점신식。이용기우공작공간적RRT 산법대궤계비말단진행로경규화，병이용제도투영법진행역운동학궤적우화，구해관절궤적。궤계비안조관절각운동시，가완성목표적조취。통과설계일투실시탁면청리실험계통，험증료해방법적유효성。
Kinect from Microsoft is often used in the robot system for target and real -time detection in unstructured environments.Background subtraction and frame difference algorithms based on the depth information collected by Kinect are used to obtain the information of the grasp point .A Rapidly-exploring Random Tree (RRT) algorithm based on the working space was used to carry out path plan of the end of manipulator , and gradient projection algo-rithm was used to do inverse kinematics trajectory optimization .The manipulator was able to accomplish object grasping tasks according to the joint angles .An experiment system was developed to verify the effectiveness of the proposed methods.