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Grabbing method for industrial stacked parts, terminal equipment and readable storage medium

A part and industrial technology, applied in the field of grabbing methods for industrial stacking parts, terminal equipment and readable storage media, to achieve the effect of improving stability and efficiency, improving efficiency and process efficiency

Active Publication Date: 2020-12-22
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the existing problems, the present invention provides a grasping method for industrial stacked parts, terminal equipment and readable storage medium

Method used

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  • Grabbing method for industrial stacked parts, terminal equipment and readable storage medium
  • Grabbing method for industrial stacked parts, terminal equipment and readable storage medium
  • Grabbing method for industrial stacked parts, terminal equipment and readable storage medium

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Embodiment Construction

[0045]In order to make the technical problems, technical solutions, and beneficial effects to be solved by the embodiments of the present invention clearer and clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

[0046]It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is said to be "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be used for fixing or circuit connection.

[0047]It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertic...

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Abstract

The invention provides a grabbing method for industrial stacked parts, terminal equipment and a readable storage medium. The method comprises the steps that a series of grabbing poses of the industrial parts placed under a standard pose in a stacking scene are generated, and a pose estimation result is obtained; the pose estimation result is evaluated by adopting a grabbing property evaluation function, wherein an expression of the grabbing property evaluation function is as follows: f1 is an evaluation value of grabbing position accessibility, f2 is an evaluation value of the relative heightof one industrial part to be grabbed, f3 is an evaluation value of the stability of the industrial part to be grabbed, f4 is an evaluation value of the grabbing angle of an end effector, and alpha i is a weight parameter corresponding to the evaluation values; and the grabbing sequence and the grabbing pose corresponding to each industrial part are determined. The grabbing stability and efficiencyare improved, and the industrial requirement is met.

Description

Technical field[0001]The invention relates to the technical field of robotic grasping, and in particular to a grasping method, terminal equipment and readable storage medium for industrial stacked parts.Background technique[0002]The field of robotics in my country is currently developing rapidly. As a large part of it, grabbing robots have begun to be widely used in home and industrial scenes. However, there are still major challenges in applying grabbing robots in industrial scenes. The stability requirements are very high, which not only requires the robotic arm to efficiently grasp and transfer parts, but also requires the entire movement process to be stable and error-free; on the other hand, most of the industry is stacking scenes, regardless of the recognition of stacking scenes in the computer vision field , Or robot path planning to avoid collisions, the current research is immature.[0003]Grabbing planning mainly refers to the planning of the grasping sequence and correspond...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1697
Inventor 曾龙赵嘉宇刘冠宏
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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