Grabbing control method and device of construction waste sorting manipulator

Abstract

The invention provides a grabbing control method and device for a construction waste sorting manipulator. The grabbing control method comprises the following steps that the actual grabbing force, the actual angle and the actual position of the grabbing control device and the expected grabbing force of a to-be-grabbed object are obtained; based on the actual grabbing force and the expected grabbing force, an impedance control algorithm is applied, and the position correction amount of the to-be-grabbed object is determined; based on the actual grabbing force, the actual position and the expected grabbing force, a preset parameter estimation algorithm is applied, and the expected position of the to-be-grabbed object is determined; and based on the position correction amount and the expected position, an inverse kinematics calculation method is applied, and the expected angle of the grabbing control device is determined. According to the grabbing control method and device of the construction waste sorting manipulator, it is ensured that the grabbing control device can still conduct self-adaptive adjustment to achieve stable grabbing when the position and the surface rigidity of the to-be-grabbed object are estimated to be deviated or the surface rigidity of the to-be-grabbed object is changed in the grabbing process; and the sorting efficiency of the to-be-grabbed object is ensured.

Description

technical field [0001] The invention relates to the field of intelligent grasping control, in particular to a grasping control method and device for a construction waste sorting manipulator. Background technique [0002] With the development of intelligent manufacturing, more and more fields are applied to grasping control devices such as manipulators to complete the grasping operation. For example, in the field of construction, manipulators are used to grasp construction waste. When the gripping force of the manipulator is small, the construction waste is easy to slip; when the gripping force of the manipulator is large, the construction waste is easy to be damaged. Therefore, the grasping control of the grasping control device is a key point. [0003] In the prior art, the grasping control device mainly adopts the impedance control method to control the grasping. This method adjusts the dynamic relationship between the position of the manipulator end effector and the cont...

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Problems solved by technology

[0003] In the prior art, the grasping control device mainly adopts the impedance control method to control the grasping, which adjusts the end effector of the manipulator according to the set target impedance model. The dynamic relationship between position and contact force is widely used in fruit and vegetable grasping, limb rehabilitation, working surface grinding, shaft hole assembly, etc.; in the construction field, when the impedance control method is used for grasping and sorting, if the grasping If the position and surface stiffness of the object can be accurately obtained, fast and stable grasping can be achieved; however, in practical applications, the information such as the position and surface stiffness of the object to be grasped by the grasping control device through the sensor often has There is a deviation; and the surface stiffness of the object to be grasped may also change during the grasping process. At this time, the application of the impedance control method cannot obtain a good control effect; on the contrary, it will affect the sorting efficiency of the object to be grasped

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