Multi-DOF manipulator independent grabbing inverse solution engineering algorithm

An inverse solution engineering and manipulator technology, applied in the field of multi-degree-of-freedom manipulators in the field of inverse solution engineering algorithms for autonomous grasping, can solve problems such as difficulty in positioning and grasping the end of the manipulator, heavy mental burden on operators, and fatigue-prone operation efficiency.
CN105014666AActive Publication Date: 2015-11-04广州霞光技研有限公司
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
广州霞光技研有限公司
Publication Date
2015-11-04

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Abstract

The present invention relates to the technical field of robot control and particularly relates to a multi-DOF manipulator independent grabbing inverse solution engineering algorithm. When each joint angle is calculated, firstly a waist rotation angle is calculated and then is converted into a plane problem, the solution efficiency is facilitated, the problems of complexity brought by an inverse matrix solution way and large mental burden and easy fatigue of an operator are avoided, and the grabbing efficiency is improved further. In addition, according to the algorithm, a target position is obtained by using a binocular vision camera unit or judged artificially such that a host computer control system determines the three-dimensional coordinate of a suspected object relative to a vehicle body and a corresponding control command is sent back, the accurate positioning and grab of the target can be realized further, and thus the grabbing efficiency is improved further.
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Description

technical field

[0001] The invention belongs to the technical field of robot control, and in particular relates to a multi-degree-of-freedom manipulator autonomous grasping reverse engineering algorithm. Background technique

[0002] With the continuous development of science and technology, and the rapid increase in the fields where robots replace human beings, the development of various robots has become a topic of common concern to all countries and militaries in the world. Since the quality of the robot's job target is unknown, the placement of the robot is highly random, and accidents may occur at any time during the grasping process. Therefore, using robots to perform operations reduces the difficulty of handling and avoids accidents by staff, which is of great importance to improving the overall technology. Technical level and operational efficiency are of great significance.

[0003] The existing vehicle-mounted manipulator robots in the world include crawler "troll...

Claims

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