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Robot material frame grabbing planning and collision detection method

A collision detection and robot technology, applied in the field of robotics, can solve problems such as cumbersome grasping methods for material frames, and achieve the effect of reducing model making and importing and quickly grasping results.

Active Publication Date: 2020-08-21
FOSHAN LONGSHEN ROBOT
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the cumbersome technical defects of the existing material frame grabbing method, the present invention provides a robot material frame grabbing planning and collision detection method

Method used

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  • Robot material frame grabbing planning and collision detection method

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Experimental program
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Embodiment 1

[0074] Such as figure 1 As shown, a robot material frame grasping planning and collision detection method includes the following steps:

[0075] S1: Simplify the actual model, input model parameters to establish a simplified model;

[0076] S2: Establish a coordinate system according to the simplified model, and perform coordinate system transformation;

[0077] S3: Obtain the pose of the target workpiece relative to the robot;

[0078] S4: After the pose is transformed, the grasping pose is obtained, and brought into the coordinate system for collision detection;

[0079] S5: Make grasping planning based on collision detection.

[0080] In the implementation process, by abstracting and simplifying the complex environment, establishing a simplified model, and performing collision detection and grasping planning through coordinate system transformation, the cumbersome model making and importing can be reduced, and the grasping results can be quickly given.

[0081] More spe...

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Abstract

The invention provides a robot material frame grabbing planning and collision detection method. The method includes the following steps that S1, an actual model is simplified, and model parameters areinput to establish a simplified model; S2, a coordinate system is established based on the simplified model, and coordinate system transformation is performed; S3, the pose of a target workpiece relative to a robot is obtained; S4, the pose is transformed to obtain a grabbing pose, and the grabbing pose is put into the coordinate system for collision detection; and S5, grabbing planning is performed based on the collision detection. According to the robot material frame grabbing planning and collision detection method, by abstracting and simplifying the complex environment, the simplified model is established, collision detection and grabbing planning are carried out through coordinate system transformation, cumbersome model making and import is reduced, and the grabbing results can be quickly given.

Description

technical field [0001] The present invention relates to the technical field of robots, and more specifically, to a method for grasping planning and collision detection of a robot material frame. Background technique [0002] With the continuous increase of labor costs and the improvement of automation technology, as well as the "Made in China 2025" strategy, the rate of using automated equipment to replace manual production is getting higher and higher. Workpiece loading is a very common process in the factory, and its work is tedious, and fewer and fewer people are willing to do this work. Material frame grabbing is one of the key methods to solve the loading problem at present, which involves the detection and obstacle avoidance of the material frame collision when the robot grabs the workpiece, and at the same time plans a better grabbing posture to improve the success rate of grabbing . The existing material frame grabbing method is cumbersome, needs to import the robo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1676B25J9/1679
Inventor 汪良红王辉陈新王雪峰陈仕晰
Owner FOSHAN LONGSHEN ROBOT
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