Industrial robot capturing method based on monocular camera and three-dimensional force sensor

Abstract

The invention discloses an industrial robot capturing method based on a monocular camera and a three-dimensional force sensor. The method comprises the steps that the monocular camera and the industrial robot are calibrated, and the three-dimensional force sensor is initialized; the monocular camera acquires an object image, an upper computer conducts image processing and calculates the position information of an object, the robot is controlled to move to a position above the object according to the position information, and then the robot moves downwards vertically till making contact with the object to be captured; the three-dimensional force sensor senses the contact force information between the tail end of the robot and the surface of the object, the upper computer controls the industrial robot to stop moving according to contact force information and calculates the pose increment of the tail end of the robot, the posture of the robot is adjusted according to the pose increment till a pneumatic sucker at the tail end of the robot is attached to the plane of the object to be captured, and the pneumatic sucker acts to achieve capturing. By the adoption of the method, objects placed obliquely in a messy mode can be captured, and complexity of camera calibration and object space pose estimation is reduced.

Description

technical field [0001] The invention belongs to the technical field of robot servo control, and more specifically relates to an industrial robot grasping method based on a monocular camera and a three-dimensional force sensor. Background technique [0002] With the development of industrial technology, industrial robots are more and more widely used in the manufacturing industry, such as automobile and auto parts manufacturing, mechanical processing, electronic and electrical production, rubber and plastic manufacturing, food processing, wood and furniture manufacturing and other fields. Robotic operations play an important role in the automated production process, and the grasping of workpieces by robots is a common task in automated production in the manufacturing industry. [0003] At present, visual guidance and positioning technology has become the main means for industrial robots to obtain information about the surrounding environment of operations, such as the robot t...

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Problems solved by technology

[0005] In view of the above defects or improvement needs of the prior art, the present invention provides an industrial robot grasping method based on a monocular camera and a three-dimensional force sensor, which simulates the human visual and tactile perception system to realize the robot's grasping work on the target , using a six-degree-of-freedom articulated industrial robot as the execution unit, using a monocular camera for environmental perception, and a three-dimensional force sensor to control the robot's attitude adjustment method, which effectively solves the special limitations of high cost of object recognition equipment and strict requirements for object placement. question

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