CN101041236A - Orientation method without sensor of random polyhedron - Google Patents
Orientation method without sensor of random polyhedron Download PDFInfo
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- 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
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Abstract
本发明一种任意多面体的无传感器定位方法，涉及机器人应用技术领域，是用机器人抓取物体并定位的方法，包括：对于一个已知的多面体物体，根据多面体物体形状计算出其在三维状态空间(θx，θy，d)的可行域；机器人先利用多面体物体最大的“碗状约束域”，通过转动和把物体放在支撑面上，把至少两个以上稳定状态转到同一稳定状态，该稳定状态对应于最大的“碗状约束域”的最低点；再反复一系列的转动和把物体放在支撑面上，把一个在支撑平面上的任意多面体物体从任意初始状态，定位到预先给定的稳定状态。本发明方法填补了国际上不用传感器三维空间物体定位的空白。
The invention relates to a sensorless positioning method for any polyhedron, which relates to the technical field of robot application, and is a method for grabbing and positioning an object by a robot, comprising: for a known polyhedron object, calculating its three-dimensional state space according to the shape of the polyhedron object Feasible region of (θ x , θ y , d); the robot first uses the largest "bowl-shaped constraint region" of the polyhedral object to turn at least two stable states into the same stable state by rotating and placing the object on the support surface , the stable state corresponds to the lowest point of the largest "bowl-shaped confinement domain"; repeat a series of rotations and put the object on the support plane, and position an arbitrary polyhedron object on the support plane from any initial state to A predetermined steady state. The method of the invention fills up the international blank of three-dimensional space object positioning without sensors.
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 ".
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200610011533 CN101041236A (en) | 2006-03-22 | 2006-03-22 | Orientation method without sensor of random polyhedron |
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|---|---|---|---|
| CN 200610011533 CN101041236A (en) | 2006-03-22 | 2006-03-22 | Orientation method without sensor of random polyhedron |
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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 |
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