Grabbing posture calculating method for scene that live-working robot grabs branch lines

A technology of live work and calculation method, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of lack of research and achieve the effect of high search accuracy

Active Publication Date: 2020-06-16
YIJIAHE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

There is currently a paucity of research on this issue of stance selection

Method used

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  • Grabbing posture calculating method for scene that live-working robot grabs branch lines
  • Grabbing posture calculating method for scene that live-working robot grabs branch lines
  • Grabbing posture calculating method for scene that live-working robot grabs branch lines

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Embodiment Construction

[0035] The present invention will be further illustrated below in conjunction with the accompanying drawings and specific embodiments.

[0036] figure 1 It is a flow chart of the present invention. like figure 1 As shown, the grasping pose calculation method of the present invention for the live working robot grasping the branch line scene includes the following steps:

[0037] (1) Pre-divide the working space of the robotic arm according to the position of the thread grabbing point, specifically:

[0038] In this example, a coordinate system is first established at the geometric center of the robot, and the coordinates of the line grabbing point are determined according to the components of the distance between the position of the line grabbing point and the origin on the x, y, and z axes, and the unit of distance is meters; For the positive and negative values ​​of the x-coordinate, first divide the workspace into two groups, and then divide the workspace into 9 (not li...

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Abstract

The invention discloses a grabbing posture calculating method for the scene that a live-working robot grabs branch lines. The method comprises the steps that (1) a work space is divided in advance according to positions of line grabbing points; (2) a search range is determined in the divided work space; (3) the center of the search range of the work space where the line grabbing points are locatedis selected as a posture for calculating the initial pose; (4) the posture for calculating the initial pose serves as an initial point, all search postures are determined in the search range of a mechanical movement posture in the work space where the line grabbing points are located; (5) all search postures determined through collision detection and screening are used; and (6) the screened search postures are ranked through an evaluation function, simulation planning is conducted, and if a certain candidate search posture is successfully planed, the candidate search posture is selected. Themethod is used for calculating the operation target poses for the scene that the live-working robot grabs the branch lines, and guiding follow-up movement planning, the search precision is high, and the optimal posture judgment reaches 1 degree.

Description

technical field [0001] The invention relates to the field of live working robots, in particular to a grasping attitude calculation method for live working robots grasping branch lines. Background technique [0002] The live working robot is an emerging industry. The working goal of the live working robot is to use the mechanical arm to complete the main and branch line lap work of the cable at high altitude. One of the basic actions is to use the mechanical arm to approach and grab the branch line. At present, the methods for the robot arm to perform actions include teaching methods and methods using inverse kinematics and motion planning algorithms. Currently, the teaching methods often used on the assembly line are mainly used for fixed operation scenarios. Based on the characteristics of live working robots working at heights and the complexity of the working environment, the teaching method is impossible; while using inverse kinematics and motion planning algorithms is m...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 程敏林欢毛成林
Owner YIJIAHE TECH CO LTD
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