Robot operation pose control method based on visual-touch multi-scale positioning

Abstract

The invention provides a robot operation pose control method based on visual-touch multi-scale positioning. The robot operation pose control method comprises the steps that firstly, the operation environment and the state of a to-be-operated target object are measured and obtained through a visual sensor, and according to collected image information and the safety distance, the estimated pose of the to-be-operated target object and the estimated target pose of a mechanical arm system are preliminarily obtained; then, the relative pose deviation of the tail end of the mechanical arm system andthe to-be-operated target object is measured and obtained through a touch sensor; and finally, according to the robot operation precision requirement, the estimated target pose of the mechanical arm system is iteratively controlled and adjusted. Through the visual-touch multi-scale positioning method, local information is increased through touch sensing, and the robot operation pose is precisely controlled. The invention provides a pose error measuring method based on the touch sensor, the relative pose deviation of the tail end of the mechanical arm system and the to-be-operated target objectis precisely measured in a six-dimensional error space, and the robot operation pose error measuring precision is improved.

Description

technical field [0001] The invention relates to a robot operation pose control method based on visual-tactile multi-scale positioning, and belongs to the technical field of robot visual-tactile perception and robot operation. Background technique [0002] In the robot operation platform, vision and tactile perception, as the eyes and skin of the robot, are important sensory functions when the robot interacts with the external environment, and are one of the key technologies for the operation of intelligent robots. Visual information can provide the robot with information about the surrounding environment, the number and distribution of objects, and the outline and size of each object; object position information, etc. [0003] At present, in the field of robotics, visual measurement is often used for target recognition and classification. The vision measurement system can provide the global information of the robot operation platform. However, in the actual visual measure...

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Problems solved by technology

However, the dimension of the error space considered in this method is only two-dimensional, that is, the displacement deviation in the x direction and the rotation angle deviation around the z-axis, which cannot meet the positioning requirements in the six-dimensional error space in practical applications.

[0005] To sum up, in order to make the robot operation have better accuracy, dexterity and stability, the traditional measurement methods based on vision and touch can no longer meet the needs of robot operation.

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