Mechanical arm grabbing system based on depth camera and control method

Abstract

The invention discloses a mechanical arm grabbing system based on a depth camera. The mechanical arm grabbing system comprises a computer, the depth camera, a mechanical arm, an AGV (Automatic Guided Vehicle) and a remote controller, wherein the computer carries and operates a ROS (Robot Operating System); the depth camera is connected with the computer; the mechanical arm comprises a six-axis mechanical arm and a clamping jaw; the clamping jaw is installed at the tail end of the mechanical arm; the six-axis mechanical arm is carried on a platform above the AGV; and the remote controller is connected with the computer. The invention further provides a corresponding grabbing method. The mechanical arm grabbing system is constructed based on the ROS, so that the position coordinates of a target object can be accurately recognized and positioned, the AGV is controlled to move, and the six-axis mechanical arm is controlled to automatically grab the target object. An operator operates and controls a remote control handle to control the AGV to reach a target object grabbing range, the computer acquires an image of the target object through the depth camera, the image is processed through an algorithm to calculate the pose and position coordinates of the optimal grabbing point of the target object, the computer sends a grabbing instruction to the mechanical arm, and the mechanical arm automatically grabs the target object.

Description

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine

Login to view more

AI Technical Summary

Benefits of technology

This patented technology allows for precise grasping within complicated environments where robots operate effectively without being limited or requiring human operators. It achieves this through advanced sensors that detect objects' positions precisely and provide feedback signals based on their movement. These technical features help improve efficiency and precision during manipulation tasks while reducing costs associated therewith.

Problems solved by technology

This patented describes different technical problem addressed by these inventors for controlling robot movements used during manufacture processes that require precise manipulation of objects like tools. Current methods are limited because they only allow movement within predefined paths without being able to adjust their orientation when needed due to changes made over time. Additionally, existing techniques may result in decreased efficiency with regards to handling varying shapes and positions of target objects.

Images