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A method for grabbing a target object by a seven-degree-of-freedom manipulator assembly

A technology of target objects and robotic arms, applied in the field of robotics, can solve the problems of narrow operating environment space, unsuitable for humans or large equipment, etc.

Active Publication Date: 2020-06-05
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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  • A method for grabbing a target object by a seven-degree-of-freedom manipulator assembly
  • A method for grabbing a target object by a seven-degree-of-freedom manipulator assembly
  • A method for grabbing a target object by a seven-degree-of-freedom manipulator assembly

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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 present invention provides a method for grabbing a target object by a seven-degree-of-freedom mechanical arm assembly, the mechanical arm assembly including a first camera and a second camera; the method includes: establishing a kinematic model for the seven-degree-of-freedom mechanical arm; Calibrating the first camera and the second camera respectively to obtain first calibration parameters and second calibration parameters; establishing a three-dimensional model of the environmental space according to the first calibration parameters to determine the working space where the target object is located, and controlling the movement of the mechanical arm into the working space according to the kinematic model of the mechanical arm; identifying and locating the target object according to the second calibration parameter, and according to the kinematic model of the mechanical arm controlling the mechanical arm to grab the target object. The invention can realize the recognition and positioning of the target object in the narrow space, so as to guide the mechanical arm to complete the grasping of the target object in the narrow 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 Patents(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