Object grabbing method based on oval surface contact

A surface contact, elliptical technology, applied in the field of robotics, can solve the problem that the shape of the real contact area between the manipulator and the target object cannot be accurately modeled, and achieve the effect of reducing time and energy costs and high grasping success rate.

Active Publication Date: 2019-09-24
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to solve the problem that the shape of the real contact area between the manipulator and the target object cannot be accurately modeled in the prior art, and propose an object grasping method based on elliptical surface contact

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  • Object grabbing method based on oval surface contact
  • Object grabbing method based on oval surface contact
  • Object grabbing method based on oval surface contact

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Embodiment Construction

[0032] The present invention will be further described in detail below in combination with specific embodiments and with reference to the accompanying drawings. It should be emphasized that the following description is only exemplary and not intended to limit the scope of the invention and its application.

[0033] Non-limiting and non-exclusive embodiments will be described with reference to the following drawings, wherein like reference numerals refer to like parts unless specifically stated otherwise.

[0034] Key terms designed in the present invention are defined as follows:

[0035] A. Force closure condition: refers to the ability of the manipulator to realize the contact force applied to the object to be grasped and to balance any external force and external moment under the corresponding friction constraint conditions. The method usually used to judge whether a grasping method satisfies the force closure condition is based on whether its corresponding grasping matrix...

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Abstract

The invention discloses an object grabbing method based on oval surface contact. The object grabbing method comprises the following steps that firstly, a 3D depth camera obtains the image information of an object; secondly, a master control computer judges the feasible grabbing area, meeting the force closure condition, in the image information; thirdly, the master control computer screens out the optimal feasible grabbing area in the feasible grabbing area; and fourthly, the master control computer generates a control instruction, and a mechanical arm and a two-finger mechanical hand are controlled to conduct the grabbing action on the object. Through modeling of the mechanical hand and target object contact shape in the real scene, the force closure condition in an oval surface contact model is obtained, and the mechanical hand and target object contact real situation can be further restored; through the convolutional neural network, the optimal feasible grabbing area with the grabbing probability is screened out, the mechanical arm is controlled to achieve stable grabbing, the high one-time grabbing success rate can be achieved in the actual operation process, and the repeated operating and grabbing time cost and energy cost are reduced.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an object grabbing method based on elliptical surface contact. Background technique [0002] With the rapid development of artificial intelligence and hardware equipment, the industrialization process and the development of robot science have been greatly promoted. The grabbing function of the robot is the most basic function of the robot, which is used to perform basic tasks such as sorting and picking in tasks. In industrial production environments or logistics sorting tasks, robotic grasping applications are very common. However, the structure of the manipulator is very simple. Many of them use pneumatic valves, which only control the opening and closing of the manipulator, and some directly use suction cups to replace the manipulator to complete the grabbing task. This obviously cannot meet the actual needs of robots in complex environments to complete difficult tasks. Due ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1679B25J9/1697
Inventor 刘厚德周星如梁斌王学谦朱晓俊高学海
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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