Double-arm collaborative robot system based on binocular vision and control method

Abstract

The invention discloses a double-arm collaborative robot system based on binocular vision. The double-arm collaborative robot system comprises a first mechanical arm device, a second mechanical arm device, a binocular detection device, a working area device, a chassis device and a control device. Point cloud data of a workpiece to be grabbed and combined by two arms cooperatively in a working area are recognized through the binocular detection device, hand-eye relationship modeling based on a binocular camera observation model is finished, and a re-projection error of pixel coordinates of the workpiece to be recognized is minimized; an optimal solution is selected from a result obtained after inverse kinematics calculation and fed back to a mechanical arm control device, the mechanical arm control device controls a first mechanical arm to move to the area where a workpiece I is located in advance, and the grabbing task is completed; then, a second mechanical arm is controlled to imitate inverse-solved closed-loop steering engine motion parameters of the first mechanical arm to move to the area where a workpiece II is located; and the two mechanical arms cooperate to complete the task. The operation precision of a robot can be effectively improved, anthropomorphic operation is achieved in a real sense, and the automation degree of industrial production is greatly improved.

Description

technical field [0001] The invention relates to the technical field of machine vision, in particular to a dual-arm collaborative robot system and control method based on binocular vision. Background technique [0002] In recent years, with the development of robotics technology, the research on coordinated motion of humanoid dual-arm robots is increasing. The dual-arm robot is not a simple superposition of the number of single-arm robots, but through a certain coordination control algorithm to jointly complete the task. Because a large number of skilled workers are still needed for monotonous and repetitive technical work, but with the rise of labor costs, these skilled workers are also facing a huge gap, which brings development bottlenecks and confusion to manufacturing enterprises. Compared with traditional robots, humanoid dual-arm robots have higher flexibility and better adaptability, and are more suitable for complex and changeable working environments and complicate...

AI Technical Summary

Problems solved by technology

Traditional object recognition often uses point cloud registration methods that iterate the closest point. This method generally needs to provide a better initial value, that is, coarse registration is required. However, due to the defects of the algorithm itself, the final iterative result may fall into a local optimum. Excellent, leading to registration failure, often not achieving the effect we want

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