Object gravity center detecting method suitable for automatic grabbing of manipulator

A detection method and manipulator technology, applied in the direction of manipulators, manufacturing tools, chucks, etc., can solve the problems of unsuitable manipulator automatic grasping, high equipment configuration requirements, complicated use, etc., achieve great practical value, simplify measurement equipment, realize The effect of simple structure

Active Publication Date: 2018-11-16
SHANDONG UNIV
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Problems solved by technology

At present, in this technical field, there are few methods for detecting the center of gravity of objects, and they mainly focus on measuring the center of gravity of objects by building a center of gravity detection platform and using a large number of sensors. This method has high requirements for equipment configuration and is complicated to use. Patent No. CN 103091042 B and Authorized Announcement No. CN 104142209 B etc.
And these methods are not suitable for the application field of automatic grasping by manipulator

Method used

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  • Object gravity center detecting method suitable for automatic grabbing of manipulator
  • Object gravity center detecting method suitable for automatic grabbing of manipulator
  • Object gravity center detecting method suitable for automatic grabbing of manipulator

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[0045] It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0046] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinations thereof;

[0047]As introduced in the background technology, at present, in this technical field, there are few methods for...

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Abstract

The invention discloses an object gravity center detecting method suitable for automatic grabbing of a manipulator. The object gravity center detecting method comprises the steps that 1, relevant parameters required by object gravity center position detecting are obtained in advance; 2, a grabbed object is subjected to two-time grabbing operation, and combined with the relevant parameters obtainedin advance, four possible gravity center coordinate values of the grabbed object are calculated and obtained correspondingly; and 3, the obtained four possible gravity center coordinate values are calculated, and the unique gravity center coordinate is determined from the obtained four possible gravity center coordinate values. According to the object gravity center calculating method, the manipulator is used for grabbing the object for two times, thus the gravity center position of the object can be easily and effectively detected and obtained, influences of the shape and mass distribution of the object are avoided, the implementation structure is simple, needed sensors are fewer, and the object gravity center detecting method has large practical value in domestic service robots and industrial robots.

Description

technical field [0001] The invention discloses a method for detecting the center of gravity of an object, in particular to a method for detecting the center of gravity of an object suitable for automatic grasping by a manipulator. Background technique [0002] For domestic service robots and industrial robots, there will be a large number of tasks to grasp objects. When the robot grabs an object, it is very important to determine the center of gravity of the object. For example, if the gripping point is on the vertical line passing through the center of gravity of the object, the object will not rotate during the lifting process. If the gripping point is not over the object On the plumb line of the center of gravity, the force of gravity generates torque on the gripping point, causing the object to rotate when it is lifted, making the gripping operation unstable, causing unexpected situations that lead to grasping failure. Therefore, if the position of the center of gravity...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J19/02
CPCB25J15/00B25J19/02
Inventor 李学勇赵仲秋
Owner SHANDONG UNIV
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