Robot Grasp Control Using Image-Based Holding Position Detection
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Solution Overview
Problem
Existing robot control systems face challenges in accurately holding and positioning objects of varying shapes and orientations, as they lack efficient methods for recognizing and responding to the specific attitudes and positions of objects.
Innovation Solution
A robot control apparatus and method that utilize image recognition and processing to obtain and analyze images of holding targets. The system selects a target to be held, determines the optimal holding position based on the object's attitude, and adjusts the holder to securely grasp and position the object.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If image recognition is used to identify holding targets and determine holding positions, then the accuracy of object holding and positioning is improved, but the complexity of the control system increases
Solution Approach 1:
An image recognition system serves as an intermediary between the robot holder and the holding targets. The system captures images of objects, processes them to identify holding targets and determine optimal holding positions, then provides this information to the robot controller. This intermediary layer enables accurate positioning without requiring complex direct control mechanisms.
Solution Approach 2:
The patent replaces traditional mechanical positioning and object identification methods with an image-based recognition system. Instead of using complex mechanical sensors and positioning devices, the system uses cameras and image processing algorithms to identify holding targets and determine holding positions, simplifying the mechanical complexity while improving measurement precision.
2Stability of the object's composition
If the robot system processes images to determine optimal holding positions, then the stability of object holding is improved, but the processing time increases
Solution Approach 1:
The image recognition system performs preliminary analysis of the holding target's shape, orientation, and characteristics before the robot attempts to grasp it. By pre-determining the optimal holding position based on image processing, the system ensures stable holding from the first attempt, reducing the need for repeated adjustments and re-grasping operations that would consume additional time.
Solution Approach 2:
The system uses image feedback to continuously monitor and adjust the holding position. The camera captures images of the holding target, the system processes this visual information to determine the optimal grasp point, and this feedback loop enables the robot to achieve stable holding quickly and maintain it throughout the operation.
Data Source
AI summary
A robot control apparatus includes a controller that controls a robot including a holder. The controller obtains a first image of at least one holding target. The controller selects, from the at least one holding target recognized in the first image, the at least one holding target to be held by the holder as a selected target. The controller determines a holding position on the selected target on a basis of a second image of the selected target. The controller causes the holder to hold the selected target at the determined holding position.