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Method for grabbing target object by mechanical arm with seven degrees of freedom

A target object and robotic arm technology, applied in the field of robotics, can solve problems such as narrow working environment space, unsuitable for humans or large equipment

Active Publication Date: 2018-04-17
UNIV OF SCI & TECH BEIJING
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] With the complexity of the working environment and the narrowing of the space, it is not suitable for humans or large equipment to enter to carry out work

Method used

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  • Method for grabbing target object by mechanical arm with seven degrees of freedom
  • Method for grabbing target object by mechanical arm with seven degrees of freedom
  • Method for grabbing target object by mechanical arm with seven degrees of freedom

Examples

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Embodiment 1

[0042] see figure 1 As shown, an embodiment of the present invention provides a method for grabbing a target object with a seven-degree-of-freedom manipulator assembly, the manipulator assembly including a first camera and a second camera; wherein the first camera is installed on the machine On the robot body of the arm assembly, the second camera is installed at the end of the robot arm.

[0043] The characteristics of the seven-degree-of-freedom robotic arm include: the first joint of seven degrees of freedom is a moving joint, and the other six are rotating joints, which are divided into a shoulder-like joint (3 degrees of freedom), including one moving joint and two rotating joints , whose central axes intersect at one point, an elbow joint (1 degree of freedom) and a wrist joint (3 degrees of freedom), including 3 mutually perpendicular rotation joints, whose central axes intersect at one point, similar to a human arm, and each The joint axes of the degrees of freedom ar...

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Abstract

The invention provides a method for grabbing a target object by a mechanical arm with seven degrees of freedom. The mechanical arm comprises a first camera and a second camera; the method comprises the steps of establishing a kinematic model for the mechanical arm with seven degrees of freedom; calibrating the first camera and the second camera separately to obtain a first calibration parameter and a second calibration parameter; establishing a three-dimensional model of an environmental space according to the first calibration parameter to define a working space where the target object is located, and controlling the mechanical arm to move to the working space according to the kinematic model of the mechanical arm; and identifying and locating the target object according to the second calibration parameter, and grabbing the target object by controlling the mechanical arm according to the kinematic model of the mechanical arm. According to the method provided by the invention, identification and locating of the target object in a small space can be achieved, so that the mechanical arm is guided to grab the target object in the small space.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method for grabbing a target object by a seven-degree-of-freedom mechanical arm assembly. Background technique [0002] With the complexity of the working environment and the narrowing of the space, it is not suitable for humans or large equipment to enter to carry out work. Therefore, robots are increasingly used in special occasions of autonomous operations in unstructured environments. The bionic robot arm is to simulate the structure of the human arm, and allocate various joints similar to the human arm, including shoulder joints, elbow joints and wrist joints, to achieve functions similar to human arms. [0003] At present, 7 degrees of freedom are the least number of degrees of freedom for robots that need to avoid obstacles and avoid internal singularities. Due to the redundant degrees of freedom, in addition to realizing the expected pose of the end point in three-dimen...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16G06K9/32G06K9/46G06K9/62
CPCB25J9/1605B25J9/1666G06V10/255G06V10/50G06F18/22
Inventor 解仑纪小建眭东亮王志良
Owner UNIV OF SCI & TECH BEIJING
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