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Flexible robot arm shape measuring method and system based on equivalent center point recognition

A robot and center point technology, applied in the field of robotics, can solve problems such as difficulty in ensuring installation accuracy, influence on the motion performance of rope-driven flexible robots, and high difficulty, and achieve the effects of improving accuracy, low fitting accuracy requirements, and strong adaptability

Pending Publication Date: 2021-07-27
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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Problems solved by technology

However, these methods require additional installation of typical features for auxiliary measurement on the rope-driven flexible robot. The installation accuracy is difficult to guarantee, and it will have a certain impact on the motion performance of the rope-driven flexible robot itself, and it is difficult to install additional typical features in some workplaces. big

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  • Flexible robot arm shape measuring method and system based on equivalent center point recognition
  • Flexible robot arm shape measuring method and system based on equivalent center point recognition
  • Flexible robot arm shape measuring method and system based on equivalent center point recognition

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Embodiment Construction

[0055] The idea, specific structure and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, scheme and effect of the present invention.

[0056] It should be noted that, unless otherwise specified, when a feature is called "fixed" or "connected" to another feature, it can be directly fixed and connected to another feature, or indirectly fixed and connected to another feature. on a feature. As used herein, the singular forms "a", "the" and "the" are also intended to include the plural unless the context clearly dictates otherwise. Also, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terms used in the specification herein are for describing specific embodiments only, and are not intended to limit the present invention. As used he...

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Abstract

The invention relates to a flexible robot arm shape measuring method and system based on equivalent center point recognition. The flexible robot arm shape measuring method mainly comprises the steps of acquiring complete side images of arm sections of a flexible robot through a binocular camera fixed on a rigid robot; according to the arm sections respectively detected in the binocular images acquired by the binocular camera, identifying and fitting the contour of an arm lever, and solving image pixel coordinates of the centers of the corresponding arm sections; according to trigger information of man-machine interaction equipment, determining corresponding center points of the same arm section in the left and right ocular images; resolving the pose of the center of the arm lever corresponding to the pixel coordinates of the two center points of the binocular images in the coordinate system of the binocular camera; and through a kinematics algorithm, determining the current pose of the binocular camera relative to a rigid mechanical arm base, and according to the installation position relation of a rigid mechanical arm relative to the flexible robot, converting the solved pose into the pose of the center of the arm lever in the arm section in a flexible robot base coordinate system.

Description

technical field [0001] The invention belongs to the technical field of robots, and generally relates to a method and a system for measuring the arm shape of a rope-driven flexible robot. In particular, the invention relates to a method and system for measuring the arm shape of a flexible robot based on equivalent central point recognition. Background technique [0002] Disaster rescue, environmental detection, equipment overhaul and maintenance and other application scenarios have the characteristics of narrow working space and many obstacles. It is difficult for traditional robots to complete tasks in these scenarios, but flexible and slender rope-driven flexible robotic arms can play an important role. Rope-driven soft robots are mainly driven by ropes. However, due to the expansion and contraction and frictional resistance with the contact parts during the rope-driven process, the kinematics and dynamics equations of rope-driven soft robots are more complicated and diffi...

Claims

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Application Information

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IPC IPC(8): B25J19/00B25J9/10
CPCB25J19/0095B25J9/104Y02A20/204
Inventor 徐文福王封旭袁晗梁斌
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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