Research and Implementation of Robotic Arm Positioning and Grasping Based on Visual Guidance

Abstract This paper proposes a robotic arm vision guidance system based on the ROS platform, which combines the Hikrobot Robotics 2D vision sensor with the Xinsong GCR5 robotic arm to successfully realise vision-guided robotic arm positioning and grasping. Camera calibration, hand-eye calibration, and deep learning techniques are used to establish an accurate transformation relationship between the base coordinate system of the robotic arm and the camera coordinate system to achieve efficient target goal recognition and localisation. Adopting the MoveIt framework and RRT-connect algorithm, the robotic arm can flexibly plan the movement path and successfully complete the target grasping, which provides the theoretical basis and practical experience for robotic arm intelligent grasping.