Mechanical arm control method, robot and computer readable storage medium

Abstract

The invention relates to the field of automatic control, and discloses a mechanical arm control method, a robot and a computer readable storage medium. The mechanical arm control method comprises thesteps that grabbing parameters are set according to a target position, a mechanical arm is controlled to grab the target position according to the grabbing parameters, and the actual grabbing positionof the mechanical arm is obtained; a difference value between the target position and the actual position is obtained, and a sum value of the target position and the difference value is obtained andused as a grabbing position; a corresponding relationship between the grabbing position and the target position is established; and the position of the to-be-grabbed object is taken as a target position, and a corresponding grabbing position is obtained from the corresponding relation as a to-be-grabbed position; and grabbing parameters are set as to-be-grabbed parameters according to the to-be-grabbed position, and the mechanical arm is controlled to grab the to-be-grabbed object according to the to-be-grabbed parameters. Compared with the prior art, the mechanical arm control method, the robot and the computer readable storage medium provided by the embodiment of the invention have the advantage that the grabbing precision of the mechanical arm is improved.

Description

technical field [0001] The invention relates to the field of automatic control, in particular to a method for controlling a mechanical arm, a robot and a computer-readable storage medium. Background technique [0002] Robot vision generally refers to the industrial vision system that cooperates with the robot. After the industrial vision system is introduced into the robot, it can greatly expand the performance of the robot and help the robot to have greater adaptability in the process of completing specified tasks. In recent years, the research on robot vision has become one of the hotspots in the field of robotics at home and abroad. [0003] However, the inventors of the present invention have found that due to reasons such as mechanical structure and visual precision, the accuracy of the robot's grasping by the fixed algorithm is not enough. The specific manifestations are that the length of the arm is not extended enough or the position is inaccurate, resulting in the ...

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