CAJ | 학술논문

为了能够实现灵巧手对目标物体进行精准操作，研究了一种利用Kinect检测出目标物体，在帧差法的基础上对获取的深度进行背景相减，获取出目标物体的运动点，在此基础上利用获取的目标物体的特征采用T-S模糊逻辑判断出目标物体的方法，以BH8-280对目标物体进行抓取实验为例，在实验中，Kinect在帧差法的基础上检测出目标物体的位姿，大小，形状，以此为基础建立起T-S模糊逻辑系统，判断出目标物体的属性和类别，通过实验结果进一步说明了利用本文研究的方法显著地提高了判断物体的准确率和效率，为灵巧手的精细控制抓取奠定了基础。
위료능구실현령교수대목표물체진행정준조작，연구료일충이용Kinect검측출목표물체，재정차법적기출상대획취적심도진행배경상감，획취출목표물체적운동점，재차기출상이용획취적목표물체적특정채용T-S모호라집판단출목표물체적방법，이BH8-280대목표물체진행조취실험위례，재실험중，Kinect재정차법적기출상검측출목표물체적위자，대소，형상，이차위기출건립기T-S모호라집계통，판단출목표물체적속성화유별，통과실험결과진일보설명료이용본문연구적방법현저지제고료판단물체적준학솔화효솔，위령교수적정세공제조취전정료기출。
In order to achieve fine operation of dexterous hand , a new method is proposed .The method consists of detecting a targeted object by Kinect , conducting background subtraction for the obtained depth on the basis of frame difference method to acquire the motion point of the targeted object and judging the targeted object by the T -S fuzzy logic along with the features of the obtained targeted object .This paper uses BH 8-280 for an object grasping experiment to verify the accuracy and rapidity of the method .In this experiment the pose , size and shape of the ob-jects can be determined .The property categories of objects are judged by the T-S fuzzy logic system .It is seen that the dexterous hand can grasp the object accurately .The research of this method builds a foundation for fine opera-tion of a dexterous hand .