基于视觉引导的4自由度机械臂的桌面钢笔操作
Tabletop Pen Manipulation With a Vision-Guided 4-DoF Arm
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中文总结 AI 辅助
该研究利用感知与运动规划，让无腕部旋转关节的4自由度Waveshare RoArm-M2-S机械臂，通过YOLO11n-OBB等算法，实现了桌面书写工具的检测、校正与颜色分类，补偿了缺失的自由度。
中文摘要 AI 辅助
低成本4自由度（DoF）机械臂是最易获取的机器人平台之一，但理论上，在物体处于任意姿态的拾取任务中，这类机械臂属于欠驱动系统，而该任务看似需要5个自由度：平面位置（x和y）、高度（z）、使夹爪与物体对齐的腕部旋转，以及夹爪驱动，4自由度机械臂缺少腕部旋转关节。本研究表明，感知与运动规划可让这款约200美元的Waveshare RoArm-M2-S机械臂，在固定顶置摄像头下无需该关节即可检测并对书写工具进行颜色分类。YOLO11n-OBB（You Only Look Once，定向边界框）检测器定位每个书写工具；相机内参与ArUco参考位姿将其像素坐标转换为机器人坐标；颜色分类器对其进行标注。检测到的姿态角决定运动策略：与机械臂固定接近方向接近的书写工具直接拾取，角度较陡的则通过校正扫动重新定向，直至可抓取，之后拾取并放入指定颜色箱。在7种书写工具的326次记录动作中，机械臂完成196次直接抓取和130次校正扫动，校正了最大90度的错位，这表明基于任务的巧妙工程设计可在这类任务中补偿缺失的自由度。
英文摘要
Low-cost four-degree-of-freedom (DoF) arms are among the most accessible robotic platforms. But they are, in theory, underactuated for picking up in situations where objects are at arbitrary orientations, a task that appears to require five degrees of freedom: the planar position (x and y), the height (z), a wrist rotation to align the gripper with the object, and gripper actuation, of which a four-DoF arm lacks the wrist rotation. This work shows that perception and motion planning can enable such an arm, a roughly $200 Waveshare RoArm-M2-S, under a fixed overhead camera to detect and color-sort writing utensils without that joint. A YOLO11n-OBB (You Only Look Once, oriented bounding box) detector locates each writing utensil; camera intrinsics and an ArUco reference pose convert its pixel coordinates to robot coordinates; and a color classifier labels it. The detected orientation angle determines the motion strategy: utensils close to the arm's fixed approach direction are picked up directly, and those at steeper angles are reoriented via corrective sweeps until they are graspable, after which they are picked up and sorted into the assigned color bin. Across 326 logged motions on seven writing utensils, the arm made 196 direct grasps and 130 corrective sweep passes, correcting misalignments up to 90 degrees, suggesting that clever task-informed engineering can compensate for a missing degree of freedom on tasks like this one.
发表机构
- Dougherty Valley High School（多切蒂谷高中）
- University of Pennsylvania（宾夕法尼亚大学）
机构由 AI 辅助整理，请以论文原文为准。
