Grabbing and operating method for manipulators based on simulator

A simulator and manipulator technology, applied in the field of intelligent robots, can solve the problem of inaccurate measurement results

Inactive Publication Date: 2017-06-23
SHENZHEN WEITESHI TECH
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Problems solved by technology

[0005] Aiming at the problem of inaccurate measurement results, the purpose of the present invention is to provide a simulator-based manipulator grasping and manipulation method, which first performs simulation initialization through the initial object, hand configuration, attributes and grasping candidate database, and then through different images Grab mapping and parallelization, perform simulation tasks and data acquisition, and finally aggregate and preprocess object-based data to form an object grabbing database

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  • Grabbing and operating method for manipulators based on simulator
  • Grabbing and operating method for manipulators based on simulator
  • Grabbing and operating method for manipulators based on simulator

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Embodiment Construction

[0036] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present invention will be further described in detail below in conjunction with the drawings and specific embodiments.

[0037] figure 1 It is a system flow chart of a simulator-based manipulator grasping and manipulating method of the present invention. It mainly includes simulation initialization, execution of simulation tasks and data acquisition, and post-processing.

[0038] Simulation initialization, each simulation needs an initial object and hand configuration; object properties need to be defined, and a list of possible grasp candidates needs to be generated; including initial object, hand configuration, attributes and grasp candidate database.

[0039] Among them, the initial object and hand configuration and properties, starting from preprocessing all object meshes; each object mesh is loaded...

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Abstract

A grabbing and operating method for manipulators based on a simulator presented by the invention mainly comprises simulation initialization, simulation task execution and post-processing. First, simulation initialization is carried out based on an initial object, manipulator configuration, attributes and a grab candidate database. Then, a data set is created within a feasible amount of time through grab mapping of different images and through a mode of parallelization to perform simulation tasks and data collection. Finally, an object grab database is formed based on aggregated data of the object and preprocessing, and post-processing is carried out. Through the grabbing and operating method for manipulators based on a simulator of the invention, noise is reduced, and the limitation by sensors is reduced greatly. The flexibility and stability of manipulators are improved, and the accuracy of measurement is improved.

Description

technical field [0001] The invention relates to the field of intelligent robots, in particular to a simulator-based manipulator grasping and manipulation method. Background technique [0002] As an effective extension of human limbs, robotic dexterous hands can perform flexible and precise grasping operations, and have become one of the hot research directions in the field of robotics. Compared with simple end manipulators, robotic dexterous hands have the advantages of strong versatility, rich perception capabilities, and the ability to achieve precise and stable grasping that meets geometric closure and force closure. It is a highly integrated electromechanical system with multiple sensory functions and intelligence, involving mechanisms, bionics, automatic control, sensor technology, computer technology, artificial intelligence, communication technology, microelectronics, materials science, etc. fields of study and interdisciplinarity. [0003] Manipulators can be widel...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B17/02
CPCG05B17/02
Inventor 夏春秋
Owner SHENZHEN WEITESHI TECH
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