Robot arm stage movement method

Abstract

The invention discloses a method for moving a robot arm in stages. An EIH camera installed on the robot arm is used to capture an image of an object for the first time. In the first movement stage, the object is quickly moved to clamp the object. In the second phase, the relative relationship between the object and the clamping device is photographed. Position, determine whether the orientation of the object image does not match the preset orientation, calculate the orientation error of the object image, compensate for the offset angle and displacement of the object, and assemble the clamped objects by moving them slowly in the second moving stage.

Description

technical field [0001] The invention relates to a robot arm, in particular to a moving method of the robot arm during the stages of gripping and moving objects. Background technique [0002] With the rapid development of production technology, factory automation uses vision devices to locate objects, guide robotic arms to grab objects, and automatically assemble and manufacture to increase production speed. The key to the automatic movement efficiency of the robotic arm is the accuracy with which the robotic arm automatically picks and places objects, which has become an important issue for the robotic arm. [0003] Such as figure 1 As shown, it is a schematic diagram of a robotic arm system 10 in the prior art. The robot arm system 10 is usually provided with a controller 12 around the robot arm 11. The controller 12 is provided with a control program of the robot arm 11, allowing the controller 12 to control the robot arm 11 fixed on the base 13 by using the control prog...

AI Technical Summary

Problems solved by technology

[0005] However, the robotic arm system 10 in the prior art uses the EIH camera 15 to take images of the object 16 at a distance, because the ETH camera images are not only prone to errors, but also the errors in the mechanism and control movement of the robotic arm 11 will affect the movement of the gripper. The accuracy of the picking device 14 causes the picking device 14 to be unable to accurately move to the gripping position of the object 16, causing the gripping device 14 of the robot arm 11 and the gripped object 16 to maintain a precise relative orientation, so that the movement to After the target area, the object 16 with orientation error cannot be smoothly inserted into the assembly groove 18, which hinders the production and assembly of the product

In addition, in order to ensure accurate movement to the clamping position of the object 16, a slower moving speed will also reduce the operating efficiency of the robotic arm 11

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