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Robot grabbing method and system

A robot and functional relationship technology, applied in the field of robotics, can solve the problems of difficulty in grasping a type of workpiece, inability to guarantee real-time and reliability, and slow grasping.

Inactive Publication Date: 2015-12-23
INST OF AUTOMATION CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the industry, the process of robot grasping is slow or unstable, and it is difficult to grasp a type of workpiece, and the real-time and reliability cannot be guaranteed.

Method used

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  • Robot grabbing method and system
  • Robot grabbing method and system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0062] as attached figure 1 As shown, a robot grasping system based on the fusion of visual and environmental attraction domains includes a robot 2, a camera 3, a remote control computer 4, a four-finger gripper 5 and a workpiece 6; the four-finger gripper 5 and the camera 3 are fixed on the robot 2. At the end of the sixth axis (that is, the end of the axis connected to the end effector), the image plane of the camera 3 is set to be perpendicular to the direction of the fingers of the four-fingered gripper 5; the camera 3, the remote control computer 4 and the robot 2 are electrically connected in turn. Optionally, the system may also include a conveyor belt 1 .

[0063] as attached figure 2 As shown, a robot grasping method based on the fusion of visual and environmental attraction domains includes the following steps:

[0064] offline stage

[0065] Step S1: If a four-fingered gripper is used to grab a convex hexahedron workpiece, firstly establish a gripper coordinate...

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PUM

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Abstract

The invention discloses a workpiece grabbing method for a robot based on the integration of vision and an environmental attraction domain. The method comprises two phases of offline analysis and online grabbing; in the offline analysis phase, environmental constraint domains are established based on a gripper and the CAD model of a workpiece, the high-dimensional environmental constraint domains are decomposed into a plurality of subspaces with three dimensions or less, and the local lowest point of each constraint domain in the subspaces, so that the grabbing state can be stabilized; in the online grabbing phase, a camera is utilized for capturing a single image, the position and posture of the workpiece are recognized, routes from the initial state to the high-dimensional environmental constraint domains are planned through computing, and a computer outputs track points and controls the robot the move and stably grab the workpiece. The invention further discloses a robot grabbing system for implementing the method.

Description

technical field [0001] The invention relates to the field of robots, in particular to a method and system for a robot to stably grab a workpiece. Background technique [0002] Today, with the rapid development of robots, industrial robots are more and more widely used in manufacturing. Robotic operations play an important role in automated production processes in areas such as automobile and auto parts manufacturing, machining, electrical and electronic production, rubber and plastic manufacturing, food processing, wood and furniture manufacturing. The gripping of workpieces by robots is a common task in automated production in manufacturing. At present, visual guidance and positioning technology has become the main means for industrial robots to obtain information about the surrounding environment, but the current technology has not yet provided a method for fast and stable grasping. In the industry, the process of robot grasping is slow or unstable, and it is difficult t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50B25J15/08
Inventor 李小青乔红苏建华李睿宋永博赵向杨爱龙
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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