Mechanical arm accurate positioning and grabbing method based on depth vision and incremental closed loop

Abstract

The invention discloses a mechanical arm precise positioning and grabbing method based on depth vision and incremental closed loop, which comprises the following steps: identifying the position of an object to be grabbed, and acquiring the space coordinates of a mechanical arm of the object to be grabbed; through an inverse kinematics analysis algorithm, the space coordinate information of the mechanical arm is converted into angle information of a mechanical arm steering engine; obtaining a target image containing an object to be grabbed; performing centroid position calculation on the to-be-grabbed object in the target image; whether the centroid of the to-be-grabbed object is on the center line of the depth camera or not is judged, and if not, increment is calculated through the centroid position of the to-be-grabbed object; and the increment serves as a feedback signal and is transmitted to an inverse kinematics analysis algorithm, the updated mechanical arm space coordinates of the to-be-grabbed object are obtained, and the mechanical arm is driven to grab the object. The equipment price of the sensor and the execution efficiency of the mechanical arm are considered at the same time, and the positioning accuracy of the mechanical arm and the success rate of object grabbing are remarkably improved.

Description

technical field [0001] The invention belongs to the field of manipulators, and relates to robot control and machine vision technology, in particular to a precise positioning and grasping method of a manipulator based on depth vision and incremental closed-loop. Background technique [0002] With the development and innovation of machine vision and robot technology, manipulators, as a member of the field of industrial robots, are becoming more and more popular. Driven by the background of intelligent manufacturing, manipulators are becoming more and more popular in people's daily life. more popular. For mobile robots, many mobile robots need to be equipped with mechanical arms to better complete some grasping tasks. At present, the high-precision robotic arms on the market have small errors, but they are expensive and have relatively high requirements for the application scene environment. However, the robotic arm with a slightly lower price often has a large error in the g...

AI Technical Summary

Problems solved by technology

At present, the high-precision robotic arms on the market have small errors, but they are expensive and have relatively high requirements for the application scene environment.

However, the robotic arm with a slightly lower price often has a large error in the grasping positioning of the robotic arm due to the use of multiple serial steering gears. There is a large error between the position of the gripper of the robotic arm and the actual position. If the space position of the robot arm is required to be high, it is easy to fail to grab the gripper of the robotic arm.

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