Robot dynamic tracking and grabbing system and method of easily-damaged articles

Abstract

The invention provides a robot dynamic tracking and grabbing system of easily-damaged articles. The system comprises a conveyor belt, a robot, a far-end visual system, a near-end visual system, a photoelectric switch and an upper computer; the conveyor belt is used for conveying the easily-damaged articles; the robot is used for grabbing the easily-damaged articles, the far-end visual system is fixed at the starting end of the conveyor belt and used for vertically shooting the easily-damaged articles; the near-end visual system fixed to the front of the robot and used for photographing the easily-damaged articles from the front side; the photoelectric switch arranged on the conveyor belt, and the upper computer is used for controlling the robot to accurately grab the easily-damaged articles according to the image information acquired by the far-end visual system and the near-end visual system. The invention further provides a robot dynamic tracking and grabbing method of the easily-damaged articles, track pre-planning and accurate error compensation are respectively carried out on the basis of information obtained by remote and near-end vision, so that the identification precisionand speed of moving objects are improved, the robot can quickly enter the real-time tracking state of the easily-damaged articles, the tracking precision and the grabbing precision of the easily-damaged article are improved; the system is simple in structure, convenient to operate and high in practicability.

Description

technical field [0001] The invention relates to a robot dynamic tracking and grabbing system and method for vulnerable items, belonging to the technical field of robot grabbing. Background technique [0002] Industrial robot grasping is used in the assembly and handling of parts on the industrial production line. However, the safety of the robot's grasping of fragile items still needs further research, especially the grasping of fragile items such as glass items and ultra-thin fragile items requires particularly high precision. During the grasping process, the shape and posture of the object to be grasped are uncertain, as well as the contact point and contact force of the manipulator are uncertain, which also increases the difficulty of actual grasping. [0003] In addition, in the actual grasping process, visual image processing is used to predict the trajectory of the items on the conveyor belt, and then drive the manipulator to the predicted grasping position to achieve...

AI Technical Summary

Problems solved by technology

However, the safety of the robot's grasping of fragile items still needs further research, especially the grasping of fragile items such as glass items and ultra-thin fragile items requires particularly high precision

During the grasping process, there are situations such as the shape and posture of the object to be grasped are uncertain, and the contact point and contact force of the manipulator are uncertain, which also increases the difficulty of actual grasping.

[0003] In addition, in the actual grasping process, visual image processing is used to predict the trajectory of the items on the conveyor belt, and then drive the manipulator to the predicted grasping position to achieve grasping. Slipping and unstable speed, resulting in insufficient grasping accuracy of the robot, it is easy to cause damage to vulnerable items when grasping

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