The invention discloses an
industrial robot capturing method based on a
monocular camera and a three-dimensional
force sensor. The method comprises the steps that the
monocular camera and the
industrial robot are calibrated, and the three-dimensional
force sensor is initialized; the
monocular camera acquires an object image, an upper computer conducts
image processing and calculates the position information of an object, the
robot is controlled to move to a position above the object according to the position information, and then the
robot moves downwards vertically till making contact with the object to be captured; the three-dimensional
force sensor senses the
contact force information between the
tail end of the
robot and the surface of the object, the upper computer controls the
industrial robot to stop moving according to
contact force information and calculates the
pose increment of the
tail end of the robot, the posture of the robot is adjusted according to the
pose increment till a pneumatic sucker at the
tail end of the robot is attached to the plane of the object to be captured, and the pneumatic sucker acts to achieve capturing. By the adoption of the method, objects placed obliquely in a messy mode can be captured, and complexity of camera calibration and object space
pose estimation is reduced.