关键词: 机器臂, 相机标定, RGBD相机, HSV

Abstract: On orbit service and maintenance is an important development direction of space technology in the future. In orbit services such as fuel refueling, cutting and operating wires, screwing caps, and disassembling valves have the characteristics of light load, close range sensing, precise positioning, and grasping. For these application scenarios, this article uses lightweight robotic arm Kinova and built-in RGBD (red, green, blue, depth) cameras for perception, positioning, grasping, and completing ground verification experiments to provide theoretical support for in orbit services. This article first introduces the research background of the robotic arm grasping system and describes the development platform and its characteristics. Secondly, introduce camera calibration, color camera and depth camera registration principles, and use the TF (transform) tree of ROS (robot operating system) to obtain three dimensional coordinates. A color space image segmentation method based on HSV (Hue, Saturation, Value) is proposed for specific captured objects, for object detection, segmentation, and spatial positioning. Finally, the experimental stage involves the robotic arm completing the target capture process based on the visual positioning results. The effectiveness of combining color space image segmentation methods with depth maps for localization has been demonstrated, providing theoretical validation for in orbit services.

Key words: robot, camera calibration, RGBD camera, HSV