Manipulator control method and device, readable storage medium and automation equipment

Abstract

The invention discloses a control method and device for a mechanical hand, a readable storage medium as well as automatic equipment. The control method for the mechanical hand comprises the following steps of: receiving a position parameter, measured by a laser distance measuring device, of a workpiece characteristic element nearby point, and calculating to obtain a characteristic element position in a pedestal coordinate system and a mechanical hand preset working position according to the position parameter; and controlling the mechanical hand to move to a characteristic element according to the characteristic element position and operating on the preset working position. According to the technical scheme adopted by the invention, a working position of a workpiece and a working gesture of the mechanical hand are quickly found through the mechanical hand, so that errors caused by line of sight of staff or visual-angle naked-eye judgment are avoided, adverse factors caused by insufficient debugging experience of staff are reduced, and damages due to the fact the mechanical hand collides with the workpiece when the line of sight is blocked are avoided; and meanwhile, through the technical scheme, the mechanical hand can quickly and precisely search the working position, on the workpiece, of the mechanical hand, so that production efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of industrial automation, in particular to a control method and device for a manipulator, a readable storage medium and automation equipment. Background technique [0002] In the existing industrial technology, the position and working posture of the manipulator in the base coordinate system are usually found by directly moving the manipulator. For workpieces with simple structure, small scale and automatic operation, manipulator debuggers are required to manually Move the manipulator to the surface of the work piece to find the base coordinate system of the manipulator; and for some larger or harsher workpieces, in order to find the base coordinate system of the manipulator during debugging, not only various auxiliary equipment are needed , it may also cause certain hidden dangers to the personal safety of the debugging personnel. At the same time, due to the limitation of the line of sight, directly operat...

AI Technical Summary

Problems solved by technology

[0002] In the existing industrial technology, the position and working posture of the manipulator in the base coordinate system are usually found by directly moving the manipulator. For workpieces with simple structure, small scale and automatic operation, manipulator debuggers are required to manually Move the manipulator to the surface of the work piece to find the base coordinate system of the manipulator; and for some larger or harsher workpieces, in order to find the base coordinate system of the manipulator during debugging, not only various auxiliary equipment are needed , it may also cause certain hidden dangers to the personal safety of the debugging personnel. At the same time, due to the limitation of the line of sight, directly operating the manipulator to find the coordinate system of the base may cause a collision of the manipulator, causing damage to the manipulator or the workpiece, and may be affected by the line of sight and viewing angle. the problem caused the error

Manual debugging requires debuggers to have certain experience in manipulator debugging, which not only requires a lot of work, but also takes a long time and is inefficient.

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