Research On 3D Physical Model Reconstruction Technology Of Manipulators Based On RGB-D

With the progress of science and technology and the improvement of productivity,the manipulator arm is more and more widely used,and it has a high requirement on the accuracy and reliability of the manipulator arm.Currently,the mathematical model of the manipulator widely used is the ideal model,it is inevitable to produce error in the course of processing and running,the actual model and the ideal model exist big deviation.Three dimensional reconstruction is a technique to restore the three-dimensional information of the object by acquiring the image or image sequences.By establishing a right and proper three-dimensional mode to describe the various attributes of the Manipulator arm,it is very meaningful for the error correction,fault detection,and security of the manipulator arm.Therefore,this paper proposed a simple method of operation of the 3D model reconstruction for the manipulator arm by using the RGB-D image obtained by Kinect,The main contents are as follows:1.Researched the Kinect depth imaging technology,developed a data collection procedures,and aligned the depth image and the color image by the method of coordinate transformation.2.For the hole problem of the depth of the image collected by Kinect,proposed an improved fast marching algorithm,to achieve the depth of the image hole filling.3.Proposed a manipulator point positioning method based on RGB-D images and calculated each manipulator joint angles by three-dimensional information of the joint points.4.Applied the most widely used robot system ROS.In additiaon,established the manipulator arm three-dimensional physical model by using the urdf file,and implemented the simulation of manipulator arm on the rviz.Finally,the author gave a conclusion of this research and made an expectation of the further research.