Image-based uncalibrated visual servo manipulator and control method thereof

Abstract

The invention discloses an image-based uncalibrated visual servo manipulator and a control method thereof. The shape feature of a target and the position at which a manipulator should grab the target are acquired directly according to an image shot at an initial pose; the pose of the manipulator is adjusted to a grabbing pose according to the shape feature of the target; and the target is grabbed according to the distance between the manipulator and the target measured by a distance sensor. Thus, the manipulator has higher work efficiency and better adaptability to the environment.

Description

technical field [0001] The invention relates to the field of automation equipment, in particular to an image-based visual servo manipulator without calibration and a control method thereof. Background technique [0002] Robots have been around for decades, and their high flexibility makes them widely used in various industries, especially in automation equipment. With the maturity of the Internet of Things technology, the development direction of robots will be connected to the network, and more convenient and powerful functions will be realized by then. As an important branch of the robot, the manipulator, coupled with the characteristics of programmable applications, can adapt to various working environments and complete the expected work. Since the development of robots, they not only have the advantages of the machine itself, but also have the advantages of humans, especially in the intelligence and adaptability of humans. [0003] With the development of science and t...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the technical problem that a single manipulator cannot obtain external information, and when faced with an unfamiliar environment, it cannot autonomously control the work.

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