A robot manipulation pose control method based on visual-touch multi-scale positioning

Abstract

The present invention proposes a robot operation posture control method based on visual-touch multi-scale positioning. The present invention first obtains the operating environment and the state of the target object to be operated by measuring the visual sensor. Operate the estimated pose of the target object and the estimated target pose of the manipulator system; then, obtain the relative pose deviation between the end of the manipulator system and the target object to be operated through the measurement of the tactile sensor; finally, according to the requirements of robot operation accuracy, through iterative control and adjust the estimated target pose of the manipulator system. The invention adopts the visual-tactile multi-scale positioning method, uses tactile perception to increase local information, and precisely controls the robot's operating pose; the present invention proposes a pose error measurement method based on a tactile sensor, which accurately measures the robotic arm in a six-dimensional error space The relative pose deviation between the end of the system and the target object to be operated improves the measurement accuracy of the pose error of the robot operation.

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 operating 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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