Design of Vision-guided Gripping System for 6DOF Robots Combined with Dexterous Hands

In the robot application system incorporating dexterous hand, a vision-based robot grasping system is proposed to address the lack of robustness of dexterous hand in grasping fixed attitude objects. First, a 6DOF robot grasping system based on machine vision is constructed using dexterous hand, depth camera and 6DOF collaborative robot, which realizes accurate grasping under vision guidance; second, to solve the problem of vision system's poor localization accuracy due to the loss of image information and features caused by image noise, occlusion and complex background in the process of image processing, a pooling layer and attention mechanism to enhance the feature extraction ability; moreover, an optimized dexterous hand grasping strategy is proposed through exhaustive grasping action design and analysis, which effectively improves the robustness of the system. The experimental results show that the accuracy of the target detection model reaches 87% through the localization measurement of the experimental objects, which is 2.1% higher than the original method, and the grasping success rate of the robotic system equipped with dexterous hand and depth camera is improved by 3.5%. These results validate the feasibility of the robotic grasping system incorporating dexterous hands in practical applications and significantly enhance the robustness of the system.