Method and device for controlling robot to grab object

A technology for robots and objects, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of high implementation cost, complex target recognition process, low efficiency in calculating joint variables, etc., and achieve the effect of flexible recognition and acquisition.

Active Publication Date: 2018-01-12
NANJING AVATARMIND ROBOT TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The embodiments of the present application provide a method and device for controlling a robot to grab an object, so as to solve the technical problems in the existing method that the process of identifying the target is complicated, the implementation cost is high, and the e

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  • Method and device for controlling robot to grab object
  • Method and device for controlling robot to grab object
  • Method and device for controlling robot to grab object

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Embodiment Construction

[0047] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described The embodiments are only some of the embodiments of the present application, but not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0048]Considering the existing methods for controlling the robot to grab the target, the identification process is relatively complicated and the cost of identification is relatively high due to the need to specifically identify various features of the target itself. Also, due to the high degree of coupling between the multiple joint vari...

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Abstract

The invention provides a method and device for controlling a robot to grab an object. The method comprises the steps that a target picture is obtained, and the target picture contains a target mark which is arranged on the to-be-grabbed object; the target mark is identified from the target picture, position information and posture information of the target object and a corresponding grabbing scheme are determined according to the target mark; low-coupling kinematics solution is conducted, and thus, a plurality of joint variables are determined; and a mechanical arm is controlled to grab the target object according to the multiple joint variables and the corresponding grabbing scheme. According to the scheme, by identifying the target mark of the target object, the position information andthe posture information of the target object and the corresponding grabbing scheme are determined; the multiple joint variables are obtained through calculation based on low-coupling kinematics solution; and accordingly, the target object is grabbed according to the multiple joint variables and the corresponding grabbing scheme, and the technical problems that by means of an existing method, the target object identifying process is complex, the cost is high, and the joint variable calculating efficiency is low are solved.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a method and device for controlling a robot to grab an object. Background technique [0002] With the development of technology, service robots have gradually entered people's daily work and life. Among them, the service robot can specifically be a type of robot engaged in maintenance, maintenance, transportation, cleaning, security, rescue or guardianship in the professional field, or in the personal and family fields. Specifically, the above-mentioned service robot includes a humanoid dual-arm robot. During specific implementation, the above-mentioned humanoid dual-arm robot can usually locate the target object to be grasped through the camera, and grasp the target object through the mechanical arm to complete the corresponding work. [0003] At present, most of the existing methods for controlling the robot to grab objects are to determine the target by identifying the...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J9/00
CPCB25J9/00B25J9/16
Inventor 张光肖
Owner NANJING AVATARMIND ROBOT TECH CO LTD
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