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A trajectory planning method for precise placement of a robotic arm based on 3D vision

A trajectory planning, robotic arm technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem that the manipulator cannot place objects at the target point, etc., to achieve high precision, improve accuracy, and improve the effect of placement accuracy.

Active Publication Date: 2021-06-04
JIHUA LAB
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] In view of the shortcomings of the above-mentioned prior art, the purpose of the present invention is to provide a 3D vision-based method for precise placement trajectory planning of a robotic arm, which aims to solve the problem that the current robotic arm cannot accurately place objects at the target point

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  • A trajectory planning method for precise placement of a robotic arm based on 3D vision
  • A trajectory planning method for precise placement of a robotic arm based on 3D vision
  • A trajectory planning method for precise placement of a robotic arm based on 3D vision

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Embodiment Construction

[0071] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0072] In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Orientation indicated by rear, left, right, vertical, horizontal, top, bottom, inside, outside, clockwise, counterclockwise, etc. The positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating ...

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Abstract

The present invention provides a 3D vision-based precise placement trajectory planning method for a robotic arm, comprising the steps of: S1. Calibrating two vision systems; S2. Theoretical pose; S3. The robotic arm moves the object to the point to be planned; S4. Combine two vision systems to obtain the object pose; S5. Compare the obtained object pose with the theoretical pose obtained in step S2, and judge the two Whether it is equal, if not, execute step S6, if equal, execute step S7; S6. Plan the motion trajectory and use the object pose acquired by the two vision systems to perform closed-loop control on the robotic arm so that the object moves along the planned trajectory to the location to be planned point, and perform step S5; S7. The mechanical arm moves the object downward to the target placement point; this method can improve the accuracy of the mechanical arm to place the object at the target point.

Description

technical field [0001] The invention relates to the technical field of industrial manipulators, in particular to a 3D vision-based trajectory planning method for precise placement of manipulators. Background technique [0002] With the development of industry, the application of robotic arms is becoming more and more common, and the application scenarios of the grasping and placing motion of robotic arms are also becoming more and more extensive. [0003] At present, the methods of grasping and placing objects by the robotic arm include grasping and placing between two points with a preset route, and realizing fast grasping and placing through deep learning; [0004] For the method of grabbing and placing between two points with a preset route, due to long-term reciprocating motion, the movement error of the mechanical arm and the error of the gripper itself will accumulate, resulting in inaccurate placement; [0005] For fast grasping and placing through deep learning, a l...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1697
Inventor 许金鹏温志庆周德成
Owner JIHUA LAB
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