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Man-machine collaboration robot grabbing system and work method thereof

A technology of human-machine collaboration and working methods, applied in the field of robotics, can solve the problems of high professional requirements and waste of time for operators, and achieve the effect of reducing professional skill requirements and smooth and compliant trajectory

Inactive Publication Date: 2019-05-10
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

[0004] At present, more research is focused on the combination of vision and grasping, but in order to obtain the observed variables in the camera to the joint coordinates of the robot, the vision system needs to be calibrated. The traditional vision calibration method requires professionalism of the operator. High and takes a lot of time to complete

Method used

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  • Man-machine collaboration robot grabbing system and work method thereof
  • Man-machine collaboration robot grabbing system and work method thereof
  • Man-machine collaboration robot grabbing system and work method thereof

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Embodiment 1

[0052] figure 1 It is a schematic structural diagram of a human-machine collaborative robot grasping system provided in Embodiment 1 of the present invention. Such as figure 1 As shown, the human-machine collaborative robot grasping system provided in this embodiment includes a wearable inertial sensor module, a camera distance determination module, a Gaussian model EM algorithm training module, a Gaussian model processing module, an adaptive robot joint coordinate extraction module, and a wearable inertial sensor module. The sensor module extracts the attitude variable of the operator grabbing the object, the camera distance module extracts the coordinates of the edge points of the object, and obtains the average value of the coordinates as the coordinates (x, y) of the center point of the target object. The Gaussian model EM algorithm training module uses the teaching data Estimate the parameters of the Gaussian model to form the mapping relationship between the object obse...

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Abstract

The invention discloses a man-machine collaboration robot grabbing system and a work method thereof. The man-machine collaboration robot grabbing system comprises a wearing type inertial sensor module, a camera spacing module, a Gaussian model EM algorithm training module, a Gaussian model processing module and an adaptive robot joint coordinate extracting module. In the man-machine collaborationapplication site, the man-machine collaboration robot grabbing system does not need to carry out calibration and kinematics inversion of a robot vision system, the professional skills required of an operator can be reduced, in addition, the man-machine collaboration robot grabbing system can achieve mapping without a large amount of samples, and the robot track is smooth.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a human-machine collaborative robot grasping system and a working method thereof. Background technique [0002] In industrial production and daily life, robots are increasingly replacing humans to perform various operational tasks, such as welding, cutting, stamping, painting, material handling, and precision material processing. Robots have significant advantages in the above tasks. During the grasping operation of the robot, the pose of the target object often changes, and the robot needs to adjust its own motion according to the pose information of the object to achieve the adaptability of grasping. [0003] In some emerging industries where robots are used, mainstream products such as mobile phones, tablets, and wearable devices are updated very quickly, as short as a few months. Traditional robot solutions require a lot of time and resources to be invested in the production ...

Claims

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Application Information

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IPC IPC(8): B25J9/16
Inventor 陶永任帆房增亮邹遇陈超勇江山张强
Owner BEIHANG UNIV
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