Hand-eye type robot movable target extracting method with low servo accuracy based on visual sensation

A technology for moving targets and robots, which is applied in the field of hand-eye low-servo-precision robot moving target grasping, which can solve problems such as poor grasping accuracy, grasping failure, and overshooting

Inactive Publication Date: 2009-04-08
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0009] Therefore, the robot visual servo control method in the prior art extracts information from the measured image, estimates the relative pose between the target object and the camera from the image information, and then uses the error between it and the expected pose to give feedback to the robot. The control method is mainly suitable for robots with relatively high position accuracy. For systems with poor position control accuracy of the robot arm, the grasping accuracy is poor, overshooting occurs during the grasping process, and even the grasping fails.

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  • Hand-eye type robot movable target extracting method with low servo accuracy based on visual sensation
  • Hand-eye type robot movable target extracting method with low servo accuracy based on visual sensation
  • Hand-eye type robot movable target extracting method with low servo accuracy based on visual sensation

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Embodiment Construction

[0022] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but not as a limitation of the present invention.

[0023] Such as figure 2 As shown, a vision-based hand-eye low-servo precision robot moving target grasping method is carried out in the following steps:

[0024] Step 10 Capture the pose T of the target object relative to the end of the robotic arm through the camera of the hand-eye vision system r That is, the image feature parameter, the current joint angle θ of the manipulator is obtained through the position detection element of the manipulator. From the current joint angle θ of the manipulator, the current pose T of the manipulator can be calculated m , then the pose T of the target object relative to the base coordinate system of the manipulator t =T m T r . Transform the pose of the target object into the form of Euler angles, then the pose of the target object relative to the coor...

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Abstract

The invention discloses a method for grabbing a moving target by a vision-based hand-eye type low-servo precision robot, which is performed by the following: step 10, capturing the characteristic parameter of an image of a target object, and estimating the relative position between the target object and a camera; step 20, predicating the position of the target object in the next clock cycle ; and step 30, generating a track layout for grabbing of the moving target object, so that a controller of the robot can control a robot arm to approach the target object to realize grabbing. The method can generate a layout for the grabbing track of the moving object, thereby improving grabbing precision to finally realize grabbing of the moving object, and solving the technical difficulty of breaking through low-precision robot arm based on visual servo.

Description

technical field [0001] The invention relates to the field of robot vision control, in particular to a vision-based hand-eye low-servo precision robot moving target grasping method. Background technique [0002] With the development of science and technology and the expansion of robot application fields, people have put forward higher requirements for robot technology, hoping that robots have higher intelligence and stronger environmental adaptability. Robot visual servo research is just to meet this requirement. And unfolded. Robot visual servoing first appeared in the 1980s and developed rapidly in the mid-to-late 1990s. This is because the expansion of robot application fields and the rapid advancement of computer hardware technology have greatly improved the speed of image processing and greatly reduced the cost of dedicated image processing equipment. Compared with traditional sensor-based robot control, visual servo control has obvious advantages: higher flexibility, ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J19/00
Inventor 黄强李辉蒋志宏黄远灿
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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