【Ubuntu&ROS】干货！小伙伴们快来拿，超全机械臂抓取开源项目！

一、基础入门

1.首先对机械臂的整体认识:

http://blog.exbot.net/archives/3337

2.CSDN上一个博主写的抓取、机械臂控制、机械臂抓取的代码解析：

https://blog.csdn.net/zzu_seu/article/details/94617814

https://blog.csdn.net/zzu_seu/article/details/89293241

https://blog.csdn.net/zzu_seu/article/details/91347757

二、进阶攻略

1.项目主要为了确定抓取位置，物体的哪个位置最容易抓取，最适合抓取，所产生的结果如下图所示，最好的抓取位置通过一个长方形框出。

https://github.com/tnikolla/robot-grasp-detection

论文：
Real-Time Grasp Detection Using Convolutional Neural Networks

2.分别通过VERP仿真、UR5，实现了机械臂的抓取。

https://github.com/andyzeng/visual-pushing-grasping

论文：
Learning Synergies between Pushing and Grasping with Self-supervised Deep Reinforcement Learning

3 代码地址：https://github.com/mirsking/Deep_learning_for_detectin_robotic_grasps/tree/master/deepGraspingCode

论文：
Deep Learning for Detecting Robotic Grasps

通过matlab实现。

4.代码地址：https://github.com/dougsm/ggcnn

论文：
Closing the Loop for Robotic Grasping: A Real-time, Generative Grasp Synthesis Approach

5.在GAZEBO仿真中，实现的机器人抓取

https://github.com/jsbruglie/grasp

6.此项目在Amazon Robotics Challenge2017（https://www.amazonrobotics.com/#/）中拿到了第一名。

https://github.com/caomw/arc-robot-vision

论文：
Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching

7.通过ROS2实现的机器人抓取

https://github.com/JuFengWu/techman_robot_grasp_ros2

8.通过ROS实现UR机器人抓取。

https://github.com/chjohnkim/MaskRCNN_Grasp_Detection/tree/master/maskrcnn

9.通过ROS实现带有机械臂的移动机器人抓取。

https://github.com/nkuzqy/move_and_grasp