CN101041236A - Orientation method without sensor of random polyhedron - Google Patents
Orientation method without sensor of random polyhedron Download PDFInfo
- Publication number
- CN101041236A CN101041236A CN 200610011533 CN200610011533A CN101041236A CN 101041236 A CN101041236 A CN 101041236A CN 200610011533 CN200610011533 CN 200610011533 CN 200610011533 A CN200610011533 A CN 200610011533A CN 101041236 A CN101041236 A CN 101041236A
- Authority
- CN
- China
- Prior art keywords
- bowl
- constrained domain
- shape constrained
- polyhedral object
- polyhedral
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000010586 diagram Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000004807 localization Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention relates to a location method without sensors for arbitrary polyhedron, belonging to the robot applicable technology field. It is the method that robot is used to grasp object and locate it, which comprises to a known polyhedron object the feasible region in 3-D space (theta x, theta y, d) is calculated according to the polyhedron figure; robot makes use of the biggest bowl constraint region of polyhedron to set the object on the support face by rotation and change at least more than two stable states into the same stable states which is corresponded with the lowest point of the biggest bowl constraint field; the object is set on the support face by a series of rotations repeatedly so that arbitrary polyhedron object on the support face is located to the presetting stable state from the arbitrary original state. The invention fills in the blank of location to 3-D space object without sensors internationally.
Description
Technical field
The present invention relates to the robot application technical field, specifically, is without sensor, an arbitrary polyhedron is in the plane navigated to the method for unique given state with robot from free position.
Background technology
China is one and makes big country, but because automaticity is not high, also is not to make power.Keep China to make the status of big country and the impetus of the national economic development, just must improve manufacturing automation greatly, and robot is first-selected.
Robot has been studied 30 years in manufacturing application.But robot is not widely used in the manufacturing industry.Part is caught on the definite stable state from the free position on the conveyer belt, is the first step of automation, also is the first step that robot uses in manufacturing industry.Now, this link generally all is manually to do.
Robot gripping's research mainly concentrate on crawled object Study on Stability [Sanz, etc 2005; Chinellato, etc 2005; Y.Liu etc, 2004; Liu etc, 2004, do not further investigate and which type of primary condition can catch stable state from for object.Particularly by a series of grasping movement, without sensor, object has or not may be caught a definite state from the arbitrary initial direction and not further investigate.
The previous work of this respect comprises that the scientists of the famous university of the U.S. realizes that by grasping polygon is at the location of two-dimensional space work [Goldberg, 1993] [Rao and Goldberg, 1995], and still blank basically for research without the general object localization of three dimensions of sensor.
Summary of the invention
The purpose of this invention is to provide a kind of method of no sensor location of arbitrary polyhedron, this method by the grasping movement of a series of robot hands, is caught a definite state with three-dimensional object from the arbitrary initial direction without sensor.
For achieving the above object, technical solution of the present invention provides a kind of orientation method without sensor of random polyhedron, is that it comprises with the method for robot gripping's object and location:
For a known polyhedral object, calculate it at three-dimensional state space (θ according to the polyhedral object shapometer
x, θ
y, feasible zone d); Robot utilizes polyhedral object maximum " bowl-shape constrained domain " earlier, by rotating and object being placed on the supporting surface, stable state possible more than at least two is forwarded to same stable state, and this stable state is corresponding to the minimum point of " the bowl-shape constrained domain " of maximum; A series of repeatedly again rotation and object is placed on the supporting surface from the arbitrary initial state, navigates to stable state given in advance to an arbitrary polyhedron object on supporting plane.
Described method, its described feasible zone is made up of " bowl-shape constrained domain ", even do not know the virtual condition of polyhedral object, but polyhedral object is corresponding to certain point of certain " bowl-shape constrained domain "; Stable state given in advance is unique any stable state.
Described method, its concrete steps are as follows:
(a) beginning is placed on polyhedral object on the supporting plane;
(b) controlling on the display screen of robot, calculating known polyhedral object at three-dimensional state space (θ
x, θ
y, feasible zone d); Wherein, θ
x, θ
yThe angle that is the bottom surface of polyhedral object and supporting plane is at x, the projection on the y; D is the distance that supporting plane is put by polyhedral object bottom center;
(c) in the feasible zone that shows, along θ
x, θ
yMobile status space diagram on the direction makes more than two existing stable state fall into same " bowl-shape constrained domain " at least; Along θ
x, θ
yAmount of movement θ on the direction
x, θ
yBe exactly the dihedral degree that robot should rotate polyhedral object, promptly-θ
x,-θ
y
(d) robot hand is picked up polyhedral object, along dihedral degree-θ
x,-θ
yRotate, at this moment, during several stable states are in same " bowl-shape constrained domain ", be placed on polyhedral object on the supporting plane gently again; Because the gravity effect of object, any one polyhedral object in preceding several stable states all falls into unique state of the minimum point correspondence of " bowl-shape constrained domain ";
(e) repeat (c), (d) step then, till all stable states all are attracted to same given state.
Described method, its described (c) is " the bowl-shape constrained domain " of existing stage maximum in the step same " bowl-shape constrained domain ".
Described method, its described supporting plane is plane belt or platform.
Described method, " the bowl-shape constrained domain " of its described maximum, in constituting feasible zone " bowl-shape constrained domain ", " the bowl-shape constrained domain " with maximum the rim of a bowl area is " maximum bowl-shape constrained domain ".
The invention has the beneficial effects as follows:
But 1, advanced the automaticity of part being caught a definite machining state from the free position on the conveyer belt.
2, compare with the localization method with vision system, the inventive method has usage range widely.Simultaneously, camera can not provide three-dimensional body whole status informations.
3, filled up in the world blank without sensor three dimensions object localization.
Description of drawings
Fig. 1 is that a three-dimensional polyhedral object is placed on the supporting plane, sets up the schematic diagram of three-dimensional system of coordinate;
Fig. 2 is the flow chart of the inventive method;
Fig. 3 is the feasible zone schematic diagram of tetrahedron at state space.
The specific embodiment
For a known polyhedral object, calculate it at three-dimensional state space (θ according to the polyhedral object shapometer
x, θ
y, feasible zone d), as shown in Figure 3, wherein, polyhedral object is a tetrahedron, its four apex coordinate is (1,1 ,-1), (1 ,-1 ,-1), (1,1 ,-1), (0,0,1); Robot utilizes polyhedral object maximum " bowl-shape constrained domain " earlier, by rotating and object being placed on the supporting surface, stable state possible more than two is forwarded to same stable state, and this stable state is corresponding to the minimum point of " the bowl-shape constrained domain " of maximum; A series of repeatedly again rotation from the arbitrary initial state, navigates to stable state given in advance to an arbitrary polyhedron object on supporting plane.
Then:
(1) for a given polyhedral object, original state that let it be how, robot all can be under the condition of not knowing the object original state, only according to the shape of object, utilize " bowl-shape constrained domain " to design a series of operation, make polyhedral object be transferred to a stable state given in advance.
Same stable state, promptly corresponding same group of (θ
x, θ
y, d), wherein, θ
x, θ
yThe angle that is the bottom surface of polyhedral object and supporting plane is at x, the projection on the y; D is the distance that supporting plane is put by polyhedral object bottom center.
The feasible zone in this three-dimensional state space is made up of " bowl-shape constrained domain ", even do not know the virtual condition of polyhedral object, but polyhedral object is corresponding to certain point of certain " bowl-shape constrained domain ".
" bowl-shape constrained domain " is meant the shape picture " bowl " at the constrained domain of state space, more in a broad sense, in such zone, exists one to make system a bit all can converge to a point of safes arbitrarily from this zone with the irrelevant time constant input of state.
This stable state is meant that polyhedral object has one side on supporting plane, and the minimum point of corresponding and certain " bowl-shape constrained domain ".The minimum point of " bowl-shape constrained domain " is exactly that point at the bowl end of this " bowl-shape constrained domain " lining.
(2) robot always utilizes maximum " bowl-shape constrained domain " earlier, by a series of rotation, an arbitrary polyhedron object on supporting plane is navigated to unique stable state given in advance from the arbitrary initial state.
Given polyhedral object is determined at the feasible zone of state space, we prove that its feasible zone is made of many " bowl-shape constrained domains ", in these " bowl-shape constrained domains ", it is " maximum bowl-shape constrained domain " that our weighing-appliance has " the bowl-shape constrained domain " of maximum the rim of a bowl area.
As shown in Figure 1, a three-dimensional polyhedral object is placed on plane belt or any supporting plane, sets up the coordinate system of three-dimensional polyhedral object, and wherein, x, y are based upon on plane belt or the supporting plane; Z is perpendicular to supporting plane, upwards.
Shown in Figure 2 is the flow chart of the inventive method, and its concrete implementation step is as follows:
(a) beginning is placed on polyhedron on the supporting plane.
(b) controlling on the display screen of robot, providing polyhedral object at three-dimensional state space (θ
x, θ
y, feasible zone d); Wherein, θ
x, θ
yThe angle that is the bottom surface of polyhedral object and supporting plane is at x, the projection on the y; D is the distance that supporting plane is put by polyhedral object bottom center.
(c) in the feasible zone that shows, along θ
x, θ
yMobile status space diagram on the direction, making that many as far as possible (at least 2) are existing may stable state (be that computer provides, different object differences.) fall into same " bowl-shape constrained domain "; This " bowl-shape constrained domain " should be " the bowl-shape constrained domain " of existing stage maximum.Along θ
x, θ
yAmount of movement θ on the direction
x, θ
yBe exactly the dihedral degree that robot should rotate polyhedral object, promptly-θ
x,-θ
y
(d) robot hand is picked up polyhedral object, along dihedral degree-θ
x,-θ
yRotate, at this moment, several possible stable states all are in same " bowl-shape constrained domain ", are placed on polyhedral object on the supporting plane gently again; Because the gravity effect of object, any one polyhedral object in preceding several possible stable states all can fall into unique state of the minimum point correspondence of " bowl-shape constrained domain ".
(e) repeat (c), (d) step then, till all possible stable states all are attracted to same given state.
Claims (6)
1, a kind of orientation method without sensor of random polyhedron is with the method for robot gripping's object and location, it is characterized in that, comprising:
For a known polyhedral object, calculate it at three-dimensional state space (θ according to the polyhedral object shapometer
x, θ
y, feasible zone d); Robot utilizes polyhedral object maximum " bowl-shape constrained domain " earlier, by rotating and object being placed on the supporting surface, stable state possible more than at least two is forwarded to same stable state, and this stable state is corresponding to the minimum point of " the bowl-shape constrained domain " of maximum; A series of repeatedly again rotation and object is placed on the supporting surface from the arbitrary initial state, navigates to stable state given in advance to an arbitrary polyhedron object on supporting plane.
2, the method for claim 1 is characterized in that, described feasible zone is made up of " bowl-shape constrained domain ", even do not know the virtual condition of polyhedral object, but polyhedral object is corresponding to certain point of certain " bowl-shape constrained domain "; Stable state given in advance is unique any stable state.
3, the method for claim 1 is characterized in that, concrete steps are as follows:
(a) beginning is placed on polyhedral object on the supporting plane;
(b) controlling on the display screen of robot, calculating known polyhedral object at three-dimensional state space (θ
x, θ
y, feasible zone d); Wherein, θ
x, θ
yThe angle that is the bottom surface of polyhedral object and supporting plane is at x, the projection on the y; D is the distance that supporting plane is put by polyhedral object bottom center;
(c) in the feasible zone that shows, along θ
x, θ
yMobile status space diagram on the direction makes to have now more than at least two and may stable state fall into same " bowl-shape constrained domain "; Along θ
x, θ
yAmount of movement θ on the direction
x, θ
yBe exactly the dihedral degree that robot should rotate polyhedral object, promptly-θ
x,-θ
y
(d) robot hand is picked up polyhedral object, along dihedral degree-θ
x,-θ
yRotate, at this moment, during several stable states are in same " bowl-shape constrained domain ", be placed on polyhedral object on the supporting plane gently again; Because the gravity effect of object, any one polyhedral object in preceding several stable states all falls into unique state of the minimum point correspondence of " bowl-shape constrained domain ";
(e) repeat (c), (d) step then, till all possible stable states all are attracted to same given state.
4, method as claimed in claim 3 is characterized in that, in described (c) step same " bowl-shape constrained domain ", is " the bowl-shape constrained domain " of existing stage maximum.
As claim 1 or 3 described methods, it is characterized in that 5, described supporting plane is plane belt or platform.
6, as claim 1 or 4 described methods, it is characterized in that, " the bowl-shape constrained domain " of described maximum, in constituting feasible zone " bowl-shape constrained domain ", " the bowl-shape constrained domain " with maximum the rim of a bowl area is " maximum bowl-shape constrained domain ".
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200610011533 CN101041236A (en) | 2006-03-22 | 2006-03-22 | Orientation method without sensor of random polyhedron |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200610011533 CN101041236A (en) | 2006-03-22 | 2006-03-22 | Orientation method without sensor of random polyhedron |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101041236A true CN101041236A (en) | 2007-09-26 |
Family
ID=38807136
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200610011533 Pending CN101041236A (en) | 2006-03-22 | 2006-03-22 | Orientation method without sensor of random polyhedron |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101041236A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102622777A (en) * | 2010-11-19 | 2012-08-01 | 范努克机器人技术美国有限公司 | System, method, and apparatus to display three-dimensional robotic workcell data |
| CN105184019A (en) * | 2015-10-12 | 2015-12-23 | 中国科学院自动化研究所 | Robot grabbing method and system |
| CN105538312A (en) * | 2016-02-26 | 2016-05-04 | 中国科学院自动化研究所 | Robot hand grabbing strategic planning method based on environment attracting domain |
-
2006
- 2006-03-22 CN CN 200610011533 patent/CN101041236A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102622777A (en) * | 2010-11-19 | 2012-08-01 | 范努克机器人技术美国有限公司 | System, method, and apparatus to display three-dimensional robotic workcell data |
| CN105184019A (en) * | 2015-10-12 | 2015-12-23 | 中国科学院自动化研究所 | Robot grabbing method and system |
| CN105538312A (en) * | 2016-02-26 | 2016-05-04 | 中国科学院自动化研究所 | Robot hand grabbing strategic planning method based on environment attracting domain |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| DE102019009201B3 (en) | A robotic system with piece loss management mechanism | |
| US10828778B2 (en) | Method for operating a robot | |
| CN107009358A (en) | A kind of unordered grabbing device of robot based on one camera and method | |
| CN108818586B (en) | Object gravity center detection method suitable for automatic grabbing by manipulator | |
| CN101041236A (en) | Orientation method without sensor of random polyhedron | |
| Li et al. | Condition and strategy analysis for assembly based on attractive region in environment | |
| CN106813570B (en) | The identification of elongated cylindrical object dimensional and localization method based on line-structured light scanning | |
| CN102179804A (en) | 3H-type charge coupled device (CCD) visual industrial robot | |
| CN103802137A (en) | Visualized industrial mechanical arm | |
| CN117961913A (en) | Mechanical arm management method and device, electronic equipment and medium | |
| Kaipa et al. | Characterizing performance of sensorless fine positioning moves in the presence of grasping position uncertainty | |
| He et al. | Optimal design of industrial robot kinematics algorithm | |
| Hsiang-Chen et al. | Position control and novel application of SCARA robot with vision system | |
| CN212978360U (en) | Four-axis industrial stacking robot | |
| CN205466174U (en) | Delta robot handling system based on stm32 singlechip | |
| Yang et al. | An omnidirectional and movable palletizing robot based on computer vision positing | |
| CN103802107A (en) | Method for achieving industrial mechanical arm with vision | |
| Meng et al. | The Graspable Algorithm for a Wall-Climbing Robot with Claws | |
| CN118269104B (en) | Robot calibration method and device, electronic equipment and storage medium | |
| Wan et al. | On dynamics simulation of 3 DOF manipulator | |
| CN116175541B (en) | Grabbing control method, grabbing control device, electronic equipment and storage medium | |
| SUN et al. | Three-Coordinate Localization Method of Monocular Vision Robot Target Based on BP Neural Network | |
| Zhang et al. | Multi-sensor augmented reality tracking based on robot hand-eye calibration | |
| Liu | Dynamic simulation system using DOF picking robot | |
| Kansal et al. | Vision based manipulation of a regular shaped object |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |