Mechanical arm grasping control system and method based on multi-azimuth visual positioning

Abstract

The invention provides a mechanical arm grasping control system and method based on multi-azimuth visual positioning. A binocular image collecting unit and a two-dimensional image collecting unit are arranged at different positions of a mechanical arm to carry out multi-azimuth visual positioning, a target object at any position in a three-dimensional space can be positioned and grasped, the three-dimensional space position and posture of the target object to be grasped can be tracked through multi-azimuth visual positioning in the process of implementing the positioning and grasping task, when the position and the posture of the target object to be grasped are changed, the grasping motion of the mechanical arm can be adjusted in time, the grasping position can be positioned again, the clamping direction is set again, and the phenomena of failed gasping or falling of the gasped target object are avoided. By means of the mechanical arm grasping control system and method based on multi-azimuth visual positioning, the mechanical arm can be controlled to effectively finish the positioning and grasping task, the problem that positioning fails due to the fact that the target object is shielded is effectively avoided, and the flexibility and accuracy of implementing the positioning and grasping task of the mechanical arm are improved.

Description

technical field [0001] The invention relates to the technical field of robot automation control, in particular to a grasping control system and method of a mechanical arm based on multi-directional vision positioning. Background technique [0002] The industrial mechanical arm is an important technology in the field of modern automatic control, and has become an important part of the modern mechanical manufacturing production system. The mechanical arm involves the scientific fields of mechanics, mechanics, electrical hydraulic technology, automatic control technology, sensor technology and computer technology, and is an interdisciplinary comprehensive technology. The structural form of the mechanical arm is relatively simple at first, and the specificity is strong. With the development of industrial technology and the continuous improvement of industrial automation control requirements, the structure of the mechanical arm has also been adaptively improved. It can be contro...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the above-mentioned deficiencies in the prior art, the object of the present invention is to provide a robotic grasping control system based on multi-directional visual positioning, which is used to perform positioning and grasping of target objects at any position in three-dimensional space, and can Effectively complete the positioning and grasping task when the position and attitude of the target object to be grasped change, improve the flexibility and accuracy of the positioning and grasping task of the robot arm, to solve the problem of the robot arm in the prior art for the target in the three-dimensional space The positioning and grasping accuracy of the object is poor, and it is easy to cause the failure of the positioning and grasping task due to environmental factors.

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