Method, device, equipment and storage medium for automatic correction of initial pose of robotic arm
A robotic arm, initial position technology, applied in the field of robotic arms, can solve the problems of poor reset accuracy and low accuracy of the robotic arm, and achieve the effects of improving correction accuracy, accurate deviation angle, and accurate calculation
Active Publication Date: 2022-05-24
深圳市大富智慧健康科技有限公司
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Obviously, this method of artificially correcting the pose of the robotic arm has low accuracy and poor reset accuracy of the robotic arm.
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[0050] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
[0051] The core of the present invention is to provide an automatic correction method for the initial posture of the mechanical arm, so as to improve the accuracy of the initial posture correction of the mechanical arm and ensure the accuracy of the reset of the mechanical arm. Another core of the present invention is to provide an automatic correction device, equipment and storage medium for the initial posture and posture of a mecha...
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The invention discloses a method, device, equipment and storage medium for automatically correcting the initial pose of a robotic arm. The method for automatically correcting the initial pose of a robotic arm includes: S1: acquiring an image of the robotic arm; S2: performing image processing on the image , calculate the deviation angle of each joint sub-arm of the robotic arm; S3: judge whether the deviation angle of each joint sub-arm exceeds the corresponding preset threshold; S4: if so, control the joint sub-arm corresponding to the joint sub-arm exceeding the corresponding preset threshold to adjust the initial position of the joint sub-arm, and return to step S1 after adjustment; S5: if not, end. By acquiring the image of the robotic arm and performing image processing, the deviation angle of each joint sub-arm of the robotic arm is obtained, and the deviation angle of each joint sub-arm is compared with the corresponding preset threshold, and the joint sub-arm exceeding the corresponding preset threshold is automatically controlled The steering gear action automatically corrects the initial pose of each joint sub-arm, improving the correction accuracy of the robotic arm pose.
Description
technical field [0001] The present invention relates to the technical field of robotic arms, and more particularly, to a method, device, equipment and storage medium for automatic correction of the initial posture and posture of a robotic arm. Background technique [0002] In the prior art, the initial position of the manipulator is usually observed by human eyes, and whether the initial position of the manipulator is correct is judged manually, for example, whether the manipulator is in a vertical state is estimated by human eyes. [0003] When the initial pose of the manipulator is judged to be biased, the manipulator uses tools to correct the position of the manipulator. Obviously, this method of artificially correcting the pose of the robotic arm has low accuracy and poor reset accuracy of the robotic arm. [0004] Therefore, how to improve the accuracy of the initial posture correction of the manipulator and ensure the accuracy of the reset of the manipulator is an urg...
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IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1692
Inventor 罗宇
Owner 深圳市大富智慧健康科技有限公司