Robot, mechanical arm and control method and device of mechanical arm

Abstract

The invention discloses a robot, a mechanical arm and a control method and device of the mechanical arm. The control method comprises the steps that an object to be grabbed is recognized through an image of an environment where the mechanical arm is located; the target distance between the object to be grabbed and the mechanical arm is determined; and a target action executed by the mechanical armis determined according to the target distance, wherein the target action is used for indicating and commanding the mechanical arm to grab the object to be grabbed and moving the object to be grabbedto a target position. The technical problem that grabbing precision of a mechanical arm in the prior art is low is solved.

Description

technical field

[0001] The present invention relates to the field of control, in particular to a robot, a mechanical arm and a control method and device thereof. Background technique

[0002] Most of the arms of existing industrial robots, medical robots and home service machines rely on closed-loop control algorithms such as proportional-integral-derivative controllers (Proportion Integral Derivative, referred to as PID), combined with the use of motion sensors, tactile sensors, The relevant parameters detected by the pressure sensor are used as feedback signals to continuously adjust the use of the robotic arm and the grasping force of the gripper of the robotic arm to complete the grasping of the object. The mechanical arms of most robots in the prior art adopt the above-mentioned control method, but the mechanical arms using the above-mentioned control method can only grasp objects of specific shapes, and lack the ability to effectively grasp irregular objects. . At th...

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