Method for controlling robot arms, non-transitory computer-readable recording medium comprising a computer program for preforming the method and electronic apparatus therefor

Abstract

This invention provides a method for a robotic arm implemented by an electronic device. The robotic arm method may include the following steps: identifying a target object; positioning the end effector of the robotic arm at the loading position of the identified target object; grasping the target object by means of the gripping portion of the end effector, thereby picking up the target object; confirming the weight of the grasped target object; confirming at least one first control setting of the robotic arm used to transport the target object based on the characteristics of the target object including its weight; moving the grasped target object to a target position based on the first control setting; and dropping the grasped target object to the target position.

Claims

1. A method for controlling a robotic arm, implemented by an electronic device, comprising the following steps: identifying a target object; positioning the end-effector of the robotic arm at the loading position of the identified target object; grasping the target object by means of a gripping portion of the end-effector, thereby picking up the target object; confirming the weight of the grasped target object; confirming at least one first control setting of the robotic arm used to transport the target object based on the characteristics of the target object including its weight; moving the grasped target object to a target position based on the first control setting; and dropping the grasped target object to the target position, wherein the gripping portion includes at least one suction cup that grips the object by means of internal pressure changes, and wherein the step of confirming the first control setting includes the following steps: confirming whether the target object is a transport target based on its weight; and corresponding to the confirmation that the target object is not a transport target, confirming the first control setting to release the gripping of the target object.

2. The control method for the robotic arm as claimed in claim 1, wherein the step of positioning the terminator includes the following steps: aligning the terminator so that the opening of the suction cup faces the suction surface for gripping the target object; moving the terminator toward the suction surface; and stopping the movement of the terminator toward the suction surface when the compressive force applied to the terminator reaches a set critical compressive force.

3. The control method for the robotic arm as claimed in claim 2, wherein the step of aligning the aforementioned terminator includes the following steps: confirming the loading configuration of the aforementioned target object; and determining the aforementioned adsorption surface based on the loading configuration of the aforementioned target object.

4. The control method of the robotic arm as described in Request 1, wherein the step of confirming whether it is the aforementioned transport target includes the following steps: when the weight of the aforementioned target object is above the set critical weight, confirm that the aforementioned target object is not the aforementioned transport target.

5. The control method for the robotic arm as described in claim 4, wherein the aforementioned critical weight is determined based on the weight of the logistics box loaded with the aforementioned target object and the weight information of the item that is the loading target of the aforementioned logistics box.

6. The control method for the robotic arm as described in claim 1, wherein the step of confirming the first control setting includes the following steps: confirming the transport speed for transporting the target object based on the weight of the target object.

7. The control method for the robotic arm as described in claim 6, wherein the step of confirming the aforementioned transport speed includes the following steps: when the weight of the target object is above or above a set upper limit value, the transport speed is confirmed as the set minimum transport speed; when the weight of the target object is below a set lower limit value, the transport speed is confirmed as the set maximum transport speed; when the weight of the target object is between the aforementioned upper limit value and the aforementioned lower limit value, the transport speed is confirmed as the heavier the target object, the slower the transport speed.

8. The control method for the robotic arm as claimed in claim 1, wherein the characteristics of the target object include the shape of the target object, and the step of confirming the first control setting includes the following steps: confirming the configuration orientation of the target object in the target position based on the shape of the target object; and confirming the rotation drive of the terminator determined based on the configuration orientation as the first control setting.

9. The control method for the robotic arm as claimed in claim 8, wherein the step of confirming the above-mentioned configuration direction includes the following steps: confirming the above-mentioned configuration direction by comparing the width of the above-mentioned target position with the width of the target object confirmed based on the shape of the above-mentioned target object.

10. The control method for the robotic arm as claimed in claim 1, comprising the following steps: during the transport of the grasped target object, confirming that the gripping part releases its grip on the target object; corresponding to the release of the gripping, reconfirming the position of the released target object; moving the terminator to the reconfirmed position of the target object, thereby re-grabbing the target object by means of the gripping part; and moving the re-grabbed target object to the target position.

11. The control method of the robotic arm as described in claim 10, wherein the step of confirming the release of the gripping includes the following steps: confirming the release of the gripping of the target object based on the change in the weight load of the robotic arm.

12. The control method of the robotic arm as claimed in claim 10, wherein the gripping part includes at least one suction cup that grips an object by means of internal pressure changes, and the step of confirming the release of the gripping includes the following steps: confirming the release of the gripping of the target object based on the internal pressure changes of the suction cup.

13. The control method of the robotic arm as claimed in claim 10, wherein the step of moving the target object to the target position after being grasped again further includes the following steps: confirming at least one second control setting of the robotic arm used to move and grasp the target object again; and moving the grasped target object to the target position based on the confirmed second control setting.

14. The control method of the robotic arm as described in claim 10, wherein a system warning signal is output when the position of the target object is not reconfirmed.

15. The control method for the robotic arm as described in claim 10, wherein when it is confirmed that the terminator cannot approach the position of the target object as confirmed again, a system warning signal is output.

16. A non-transitory computer-readable recording medium recording a program for performing the method as described in claim 1 on a computer.

17. An electronic device for controlling a robotic arm, comprising: processor; The processor, by executing the instructions, performs the following steps: identifying a target object; positioning the end-effector of the robotic arm at the loading position of the identified target object; grasping the target object by the gripping part of the end-effector, thereby picking up the target object; confirming the weight of the grasped target object; confirming at least one first control setting of the robotic arm used to transport the target object based on the characteristics of the target object including its weight; moving the grasped target object to a target position based on the first control setting; and dropping the grasped target object to the target position, wherein the gripping part includes at least one suction cup that grips the object by internal pressure changes, and wherein the processor performs the following steps: confirming whether the target object is a transport target based on its weight; and confirming the first control setting to release the gripping of the target object accordingly if the target object is not a transport target.

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