Hand-eye type robot movable target extracting method with low servo accuracy based on visual sensation
A technology for moving targets and robots, which is applied in the field of hand-eye low-servo-precision robot moving target grasping, which can solve problems such as poor grasping accuracy, grasping failure, and overshooting
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[0022] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but not as a limitation of the present invention.
[0023] Such as figure 2 As shown, a vision-based hand-eye low-servo precision robot moving target grasping method is carried out in the following steps:
[0024] Step 10 Capture the pose T of the target object relative to the end of the robotic arm through the camera of the hand-eye vision system r That is, the image feature parameter, the current joint angle θ of the manipulator is obtained through the position detection element of the manipulator. From the current joint angle θ of the manipulator, the current pose T of the manipulator can be calculated m , then the pose T of the target object relative to the base coordinate system of the manipulator t =T m T r . Transform the pose of the target object into the form of Euler angles, then the pose of the target object relative to the coor...
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