Physical measurement method and device for grabbing posture quality of manipulator

A measurement method and robot technology, applied in the direction of manipulator, program control manipulator, manufacturing tool, etc., can solve the problems of high limitation, poor accuracy and stability, and achieve the effect of strong robustness, improved accuracy and stability

Pending Publication Date: 2022-02-25
TSINGHUA UNIV
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  • Claims
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Problems solved by technology

[0003] For this reason, 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

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  • Physical measurement method and device for grabbing posture quality of manipulator
  • Physical measurement method and device for grabbing posture quality of manipulator
  • Physical measurement method and device for grabbing posture quality of manipulator

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[0051] In order to make the objects, technical solutions, and advantages of the present invention more clearly, the technical solutions in the embodiments of the present invention will be described in contemplation in the embodiment of the present invention. It is an embodiment of the invention, not all of the embodiments. Based on the embodiments of the present invention, those of ordinary skill in the art are the scope of the present invention in the scope of the present invention without making creative labor premises.

[0052] The following is a detailed description of the physical metrics of the posture massage of the machine hand in accordance with the machine hand of the present invention. Such as figure 1 As shown, it is a flowchart of a physical metric method for grabbing posture mass of the embodiment of the present invention, and the specific implementation process includes the following steps:

[0053] Step 101: Determining the candidate grab posture of the machine han...

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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...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1612B25J9/1664Y02P90/30
Inventor 王生进鲁宇豪李亚利
Owner TSINGHUA UNIV
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