Box grasping control method, box placement control method, related device and system

Abstract

The embodiment of the present application discloses a box grasping control method, a box placement control method, a related device and a system. The method includes: according to the position and size information of the box, determine the first clamping position corresponding to the first clamping surface of the clamper on the first surface of the box, and determine the first clamping position corresponding to the first clamping surface of the clamper on the second surface of the box. the second clamping position corresponding to the second clamping surface of the clamper; controlling the first clamping surface and the second clamping surface of the clamper to respectively reach the first clamping position and the second clamping position; The first clamping surface and the second clamping surface are controlled to apply force to the first clamping position and the second clamping position respectively, so as to grab the box body. This application can adapt to the application scene where the grasping objects are boxes of various sizes and shapes, enhance the grasping force on the box, and maintain the stability of the box when the robot arm moves in various complex paths such as high-speed arc motion and circular motion. stability.

Description

technical field [0001] The present application relates to the technical field of robot control, and in particular to a control method for grabbing a box, a control method for placing a box, a control method for picking and placing a box, and related devices and systems. Background technique [0002] At present, in the application scenario where the grasping object of the robot is a box of various shapes and sizes, the gripper usually applies a unidirectional force to one surface of the box to grab the box. [0003] However, the one-way force exerted by the above method is limited, and the box is easily dropped during the process of transporting the box, especially when the mechanical arm moves in various complex paths such as high-speed circular motion and arc motion. Contents of the invention [0004] The embodiment of the present application provides a box grabbing control method, a box placement control method, a box picking and placing control method, related devices a...

AI Technical Summary

Problems solved by technology

[0003] However, the one-way force exerted by the above method is limited. During the process of moving the box, especially when the mechanical arm is moving in various complex paths such as high-speed circular motion and arc motion, it is very easy to cause the box to fall.

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