Vehicle-mounted manipulator one-key grabbing and putting-back control method, device and system

A control method and technology of manipulators, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as the risk of falling objects to be grasped, limitations of path planning, etc., so as to improve the success rate of grasping, ensure safety, and ensure safety effect

Active Publication Date: 2020-04-28
CHANGSHA ZHONGLIAN HENGTONG MACHINERY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the embodiment of the present invention is to provide a one-key grab and put back control method for the on-board manipulator, a one-key grab and put back control device for the on-board manipulator, and a one-key grab and put back control system for the on-board manipulator, In order to solve the limitations of the path planning existing in the process of automatic grasping and returning of the existing manipulator and the problem of the risk of falling of the grasped object during the grasping process

Method used

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  • Vehicle-mounted manipulator one-key grabbing and putting-back control method, device and system

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Embodiment Construction

[0050] Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.

[0051] In the embodiments of the present invention, the term "comprising", "comprising" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, commodity or apparatus comprising a series of elements includes not only those elements, but also Include other elements not expressly listed, or also include elements inherent in such process, method, commodity or apparatus. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0052] Such as figure 1 As ...

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Abstract

The embodiment of the invention provides a vehicle-mounted manipulator one-key grabbing and putting-back control method, device and system, and belongs to the technical field of manipulator control. The method comprises the following steps that an obstacle virtual wall is established, and a grabbing path and a putting-back path of a manipulator are constructed based on the obstacle virtual wall; in the grabbing stage, in response to a first instruction sent by a user side, the manipulator is controlled to move above a target object, and after it is detected that the execution tail end of the manipulator is in contact with the target object, a first gripper and a second gripper at the execution tail end are controlled to grab the target object with preset first output pressure, and the manipulator is moved to a first target position according to the grabbing path; and the first gripper and the second gripper are controlled to release the target object. According to the technical scheme,the grabbing path and the putting-back path of the manipulator are determined based on establishing the obstacle virtual wall, so that the operation safety is effectively guaranteed.

Description

technical field [0001] The present invention relates to the technical field of manipulator control, in particular to a one-button grab and put back control method for a car-mounted manipulator, a one-button grab and put back control device for a car-mounted manipulator, and a one-key grab and put back control device for a car-mounted manipulator Control System. Background technique [0002] Existing manipulators may encounter obstacles in the process of automatic grabbing and returning, which may lead to safety accidents or unnecessary losses. Existing path planning is mostly implemented by visual algorithms, but visual algorithms rely on For image acquisition, when the image acquisition is blocked or there is a blind spot, it will affect the accuracy of path planning. At the same time, during the capture process, there may be a risk of the captured object falling due to uneven force. In addition, the capture Inaccurate positioning of the execution end of the manipulator wi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1666B25J9/1694
Inventor 孙波刘龙兵涂凌志李义杨勇
Owner CHANGSHA ZHONGLIAN HENGTONG MACHINERY
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