A method for a robot to grab a material package and a robot grabbing device

Abstract

The invention discloses a method for grabbing a material bag by a robot and a robot grabbing device. The method and device are used for grabbing a target material bag. The method provided by the invention comprises the following steps: controlling a tri-axial all-directional binocular camera to acquire an image of a to-be-grabbed target material bag through a master control board, recording pose information of the tri-axial all-directional binocular camera and saving a left-right view; analyzing a three-dimensional coordinate of the target material bag under a camera coordinate system according to the left-right view; computing the three-dimensional coordinate of the target material bag under a mechanical arm coordinate system according to the pose information, the three-dimensional coordinate of the target material bag under the camera coordinate system and an original point position of the mechanical arm coordinate system; computing joint angle required for movement of each joint of a mechanical arm according to the three-dimensional coordinate of the target material bag under the mechanical arm coordinate system, and in combination with inclination information fed back by a tilt angle sensor, computing the joint angle of each joint of the mechanical arm, needing to move, controlling each joint of the mechanical arm to rotate according to the joint angle through the master control board, and then controlling the mechanical arm to grab the target material bag.

Description

technical field [0001] The invention relates to the technical field of machine vision and motion control, in particular to a method for a robot to grab a material package and a robot grabbing device. Background technique [0002] At present, robots have been applied in the industrial field, and these robots mainly rely on mechanical arms to complete a certain process on the assembly line. Existing robots are often fixed on a certain mechanism, and achieve the purpose of operating a certain target through a certain action through offline teaching in advance. There are single-oriented objects, single movement situations, and poor adaptability to the working environment. strong question. For example, robots widely used in palletizing, gluing, spot welding, arc welding and other industries often have the above problems. Contents of the invention [0003] The object of the present invention is to provide a method for a robot to grab a material package and a robot grabbing dev...

AI Technical Summary

Problems solved by technology

Existing robots are often fixed on a certain mechanism, and achieve the purpose of operating a certain target through a certain action through offline teaching in advance. There are single-oriented objects, single movement situations, and poor adaptability to the working environment. strong question

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