Mechanical arm tail end adjusting method, device, system, equipment and medium

Abstract

The embodiment of the invention discloses a mechanical arm tail end adjusting method, a device, a system, equipment and a medium. The method comprises the steps that a target image of a three-dimensional beacon collected by an image collector at the tail end of a mechanical arm is obtained, the three-dimensional beacon is placed on a working face, the three-dimensional beacon comprises an area with information codes, structural information of the three-dimensional beacon is extracted from the information codes, shape information of the three-dimensional beacon on the target image is recognized, and the shape information of the three-dimensional beacon on the target image is obtained. According to the structure information and the shape information, first pose data of the tail end of the mechanical arm relative to the working face is determined, and the tail end of the mechanical arm is adjusted to the target pose based on the first pose data, so that the pose of the tail end of the mechanical arm relative to the working face can be conveniently and accurately obtained by using the three-dimensional beacon, and flexible adjustment can be performed according to the pose of the working face. The operation smoothness of the tail end of the mechanical arm is high, and the control precision of the tail end of the mechanical arm is improved.

Description

technical field [0001] The present application relates to the technical field of manipulator arm end adjustment, and in particular to a manipulator end adjustment method, a manipulator end adjustment device, a manipulator end adjustment system, a computer device, and a computer-readable storage medium. Background technique [0002] With the development of robot technology, robotic arms are widely used in various fields. For example, in the field of industrial robots, robotic arms are often used to complete operations such as workpiece grasping. Generally, a robotic arm is composed of a base, a dynamic joint, a connecting rod, and an end tool. The overall motion control of the manipulator is often concerned by technicians, but the adjustment of the end of the manipulator is often focused on position adjustment, and less attention is paid to the adjustment of the pose of the end of the manipulator. Contents of the invention [0003] In view of the above problems, the prese...

AI Technical Summary

Problems solved by technology

The overall motion control of the manipulator is often concerned by technicians, but the adjustment of the end of the manipulator is often focused on position adjustment, and less attention is paid to the adjustment of the pose of the end of the manipulator

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