Physical measurement method and device for grabbing posture quality of manipulator

Abstract

The invention provides a physical measurement method and device for grabbing posture quality of a manipulator. The method comprises the following steps: a flatness score of a contact point between a candidate grabbing posture of a manipulator and an object is determined; the gravity center score of the object clamped by the candidate grabbing posture is determined; the quality of the candidate grabbing posture is evaluated based on the flatness score and the gravity center score. According to the physical measurement method for the grabbing posture quality of the manipulator, provided by the invention, based on the characteristics that a person tends to be in contact with a flatter part on an object and is habituated to be in contact with a central part of the object when taking up the object in life, the quality of the grabbing posture of the manipulator is evaluated from the flatness and gravity analysis of the object through the two physical measurement scores, so that the evaluation result of the candidate grabbing posture has higher robustness, the candidate grabbing posture with higher quality can be selected when the grabbing posture of an actual object is predicted, and therefore, the accuracy and stability of subsequent manipulator grabbing posture control are improved.

Description

technical field [0001] The invention relates to the technical field of artificial intelligence processing, in particular to a method and device for physically measuring the quality of a robot hand's grasping posture. In addition, it also relates to an electronic device and a processor-readable storage medium. Background technique [0002] In recent years, with the rapid development of computer technology, artificial intelligence robots based on computer technology have been more and more widely used. Among them, in practical applications, how to make the robot hand choose a more effective grasping posture to improve the grasping accuracy of objects has become the focus of current research. However, the robustness of the measurement scheme for the candidate grasping poses in the prior art is poor, which makes it difficult for the accuracy and stability of the robot hand to select the grasping pose to hold the object to meet the actual needs. Therefore, how to design an effi...

AI Technical Summary

Problems solved by technology

[0003] To this end, the present invention provides a method and device for physical measurement of the quality of the robot's grasping posture, to solve the limitations of the physical measurement scheme for the quality of the robot's grasping posture in the prior art, which leads to the fact that the robot chooses to grasp Defects of poor posture accuracy and stability

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