Method and device for controlling robot to grasp objects

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, low efficiency in calculating joint variables, and complex target recognition process, and achieve the effect of flexible recognition and acquisition.

Active Publication Date: 2021-02-26
NANJING AVATARMIND ROBOT TECH CO LTD
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  • Abstract
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  • Claims
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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 efficiency of calculating joint variables is low, and the method is simple, Flexible identification and acquisition of target information; efficient and accurate calculation of multiple joint variables; and then precise control of the technical effect of the robot grabbing the target

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  • Method and device for controlling robot to grasp objects
  • Method and device for controlling robot to grasp objects
  • Method and device for controlling robot to grasp objects

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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 present application provides a method and device for controlling a robot to grab an object, wherein the method includes: obtaining a target picture, the target picture contains a target mark, and the target mark is set on the target to be grasped; Identify the target, and determine the position information and attitude information of the target object, and the corresponding grasping scheme according to the target identity; then perform low-coupling kinematics solution to determine multiple joint variables; according to multiple joint variables and the corresponding grasping scheme, Control the robotic arm to grab the target. Because the scheme determines the position information and attitude information of the target and the corresponding grasping scheme by identifying the target mark set on the target; by using low-coupling kinematics to solve, calculate and obtain multiple joint variables; and then according to multiple joint variables and the corresponding grasping scheme to grasp the target, thereby solving the technical problems of the existing methods such as complex process of identifying the target, high cost, and low efficiency of calculating joint variables.

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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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J9/00
CPCB25J9/00B25J9/16
Inventor 张光肖
Owner NANJING AVATARMIND ROBOT TECH CO LTD
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