Precise grabbing method and system for mechanical arm

Abstract

The invention provides a precise grabbing method for a mechanical arm. The method comprises the following steps that a grabbing position vector diagram containing position coordinates of the mechanical arm position coordinates of an to-be-carried object is acquired; after the grabbing position vector diagram is detected and received, grabbing route data between the mechanical arm position coordinates and the position coordinates of the to-be-carried object are analyzed according to the grabbing position vector diagram, and the data is transmitted to a first laser sensor; when the grabbing route data is detected, the first laser sensor is used for detecting whether an obstacle exists on one grabbing route according to the grabbing route data so as to obtain an alternative grabbing route; anoptimal grabbing route is acquired according to the alternative grabbing route and is transmitted to a second laser sensor; the optimal grabbing route is analyzed, and the second laser sensor is controlled to guide the mechanical arm to the position coordinates of the to-be-carried object in a fixed-point mode according to the optimal grabbing route; and the mechanical arm is controlled to complete grabbing.

Description

technical field [0001] The invention relates to the field of grasping control of mechanical equipment, in particular, to a precise grasping method for a robotic arm and a precise grasping system for the robotic arm. Background technique [0002] The robotic arm is the most widely used automated mechanical device in the field of mechanical technology. It can be seen in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration. In the process of work, they are all directly positioned to a point of a three-dimensional or two-dimensional destination by means of telescoping, rotation and lifting by receiving instructions, but since the positioning is determined by the mutual angle of the joints of the manipulator, its The errors of each joint are easy to accumulate, so the position accuracy is difficult to guarantee. SUMMARY OF THE INVENTION [0003] The present invention proposes a new precise grasping me...

AI Technical Summary

Problems solved by technology

[0003] The invention proposes a new precise grasping method for a mechanical arm. The technical problem to be solved is that in the prior art, the positioning of the grasping action of the mechanical arm is determined by the mutual rotation angles of the joints of the mechanical arm. The error is easy to accumulate, and the grasping accuracy is difficult to guarantee

Images