A target rotation detection method suitable for manipulator in-hand operation

Abstract

A target rotation detection method suitable for manipulator in-hand operation, which includes step 1: calibrating and initializing the detection system; step 2: calculating the initial coordinate interval and the initial rotation radius interval of the center of mass of the operation target in the manipulator coordinate system; Three: Use the force / torque sensor to detect the force state of the target in real time, and judge the condition of the target at this time based on the detection results; if the force / torque sensor has no pulse fluctuation output, use the rotation detection method of pure gravity conditions. Target rotation detection; if the output value of the force / torque sensor has pulse fluctuations, the rotation detection method of the external collision condition is used to detect the target rotation; Step 4: After the robot completes the rotation detection of the job target in the current state, repeat Step 3 until The robot completes the operation task of the operation target. The invention can enhance the robot's ability to perceive and operate on unknown targets.

Description

technical field [0001] The invention relates to a detection method of target rotation, in particular to a target rotation detection method suitable for manipulator in-hand operation, and belongs to the technical field of robotics. Background technique [0002] In recent years, the application scenarios of robots have become more and more extensive, and the requirements for the robot's target operation ability are also higher and higher, especially the robot's target autonomous grasping and dexterous operation ability. In order to successfully complete the task, after the robot grabs the job target, the target must not rotate unexpectedly, otherwise it will easily cause the job target pose to change or even the target to fall, resulting in the failure of the robot job task. Therefore, for the robot, the on-hand detection ability of target rotation is of great significance to successfully complete the target task. [0003] The on-hand operation of the task target is an import...

AI Technical Summary

Problems solved by technology

The vision processing algorithm of this type of method is usually relatively complicated. In order to ensure the real-time detection, a special processor is required to implement the algorithm, which is not conducive to the software and hardware integration of the robot control system; in addition, when the vision is occluded, this type of rotation detection method Highly prone to failure; therefore, it is difficult for the vision sensor based rotation detection method to be practically applied in the process of detecting the rotation of the target in the robot

In addition, the device for detecting and controlling the rotational position of a rotating object with the publication number CN207884454U has a large structure and cannot be installed on the manipulator, and the proposed detection method can only be realized by relying on the device, so it cannot be applied to the manipulator. Object rotation detection while grabbing an object

Publication number CN106796118A is a sensor assembly for non-contact detection of the rotation angle of a rotating member. The detection principle of the proposed method is the eddy current effect. This method can only be used for the rotation detection of metal targets, and cannot completely cover all the working targets of the robot.

The sensor assembly with the publication number CN106796119A used to detect the rotation angle of the rotating member without contact is also based on the eddy current effect principle to detect the rotation of the metal target, which cannot meet the rotation detection requirements of different material targets

Images