CN108127666B - Mechanical arm grabbing method and system and mechanical arm - Google Patents
Mechanical arm grabbing method and system and mechanical arm Download PDFInfo
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- CN108127666B CN108127666B CN201711489946.9A CN201711489946A CN108127666B CN 108127666 B CN108127666 B CN 108127666B CN 201711489946 A CN201711489946 A CN 201711489946A CN 108127666 B CN108127666 B CN 108127666B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
Abstract
The application is suitable for the technical field of automation, and provides a grabbing method and system of a mechanical arm and the mechanical arm, and the grabbing method comprises the following steps: acquiring the spatial position of the target object according to the grabbing instruction, and calculating a moving path of the mechanical arm when the mechanical arm grabs the target object; moving the mechanical arm along the moving path until an execution end of the mechanical arm touches the target object; and determining the gripping force of the execution end on the target object according to the reaction force so as to complete the gripping of the target object according to the gripping force. In the process, the execution end is accurately moved according to the calculated moving path, and the target object is grabbed at a proper position; and then the proper gripping force for the current target object is determined according to the counterforce received by the execution end, so that the target object is prevented from falling off due to small gripping force and being damaged due to overlarge gripping force in the process of gripping the target object.
Description
Technical Field
The application belongs to the technical field of automation, and particularly relates to a mechanical arm grabbing method and system and a mechanical arm.
Background
The mechanical arm is a mechanical structure simulating a human hand, such as a planar multi-joint robot, a stacker crane and the like, and generally comprises a plurality of joint arms and an execution end arranged on the last joint arm, wherein various execution parts are arranged on the execution end, and the execution end is moved to a specified coordinate in space through automatic control to realize functions provided by the execution parts, such as writing, taking, testing and the like. When the arm snatchs the task in the execution, because the difference of the appearance of article, quality and material etc. the arm is when snatching article, is difficult to master the dynamics of snatching, for example, snatch the dynamics and damage easily when too big and snatch article, the dynamics undersize leads to droing of object easily again, is difficult to realize intelligent centre gripping.
Disclosure of Invention
In view of this, embodiments of the present application provide a method and a system for grabbing a robot arm, and a robot arm, so as to solve the problem in the prior art that when a robot arm grabs an object, different grabbing forces cannot be applied according to characteristics of the object itself.
A first aspect of an embodiment of the present application provides a method for grabbing a robot arm, where the method for grabbing the robot arm includes:
receiving a grabbing instruction, and acquiring the spatial position of a target object according to the grabbing instruction;
calculating a moving path of the mechanical arm when the mechanical arm grabs the target object according to the space position;
moving the mechanical arm along the moving path until an executing end of the mechanical arm touches the object to be grabbed, wherein the executing end is used for grabbing the object;
detecting the counterforce borne by the executing end, and determining the holding power of the executing end on the target object according to the counterforce;
and controlling the mechanical arm to complete the grabbing of the target object with the grabbing force.
A second aspect of an embodiment of the present application provides a robot grasping system, including:
the position acquisition unit is used for receiving a grabbing instruction and acquiring the spatial position of the target object according to the grabbing instruction;
the calculation unit is used for calculating a moving path when the mechanical arm grabs the target object according to the space position;
the detection unit is used for detecting the counterforce borne by the execution end and determining the gripping force of the execution end on the target object according to the counterforce;
the control unit is used for moving the mechanical arm along the moving path until an execution end of the mechanical arm touches the object to be grabbed, wherein the execution end is used for grabbing the object; and the mechanical arm is also used for controlling the mechanical arm to complete the grabbing of the target object with the grabbing force.
A third aspect of embodiments of the present application provides a robot arm comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of any one of the methods of grasping the robot arm when executing the computer program.
A fourth aspect of an embodiment of the present application provides a computer-readable storage medium having stored thereon a computer program for implementing the steps of the method according to any one of the methods of grabbing of the robot arm when the computer program is executed by a processor.
According to the embodiment provided by the application, after the mechanical arm receives the grabbing instruction, the spatial position of the target object is detected and detected according to the grabbing instruction, then the moving path of the mechanical arm when the mechanical arm grabs the target object is calculated according to the spatial position of the target object, and the mechanical arm is controlled to move along the calculated moving path until the execution end on the mechanical arm touches the target object. After the execution end touches the target object, the reaction force of the execution end from the target object is detected, the gripping force of the execution end on the target object is determined according to the reaction force, and then the execution end is controlled to complete the gripping of the target object according to the determined gripping force. In the process, the execution end can accurately move according to the calculated moving path, and the target object can be grabbed at a proper position; and then the proper gripping force for the current target object is determined according to the counterforce received by the execution end, so that the target object is prevented from falling off due to small gripping force and being damaged due to overlarge gripping force in the process of gripping the target object.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic flow chart illustrating an implementation of a grabbing method of a robot provided in an embodiment of the present application;
FIG. 2 is a schematic view of a robot arm at an execution end of a claw-like structure for grasping an object according to an embodiment of the present application;
fig. 3 is a schematic flowchart of an implementation of step S12 in fig. 1 according to an embodiment of the present application;
fig. 4 is a schematic view of a gripper system of a robot provided in an embodiment of the present disclosure;
FIG. 5 is a schematic view of a robotic arm provided in embodiments of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
According to the embodiment provided by the application, after the mechanical arm receives the grabbing instruction, the spatial position of the target object is detected and detected according to the grabbing instruction, then the moving path of the mechanical arm when the mechanical arm grabs the target object is calculated according to the spatial position of the target object, and the mechanical arm is controlled to move along the calculated moving path until the execution end on the mechanical arm touches the target object. After the execution end touches the target object, the reaction force of the execution end from the target object is detected, the gripping force of the execution end on the target object is determined according to the reaction force, and then the execution end is controlled to complete the gripping of the target object according to the determined gripping force.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
The first embodiment is as follows:
fig. 1 shows a schematic implementation flow diagram of a grabbing method of a robot provided in an embodiment of the present application, which is detailed as follows:
step S11, receiving a grabbing instruction, and acquiring the spatial position of the target object according to the grabbing instruction;
according to the embodiment provided by the application, after receiving a grabbing instruction sent by a user, the mechanical arm analyzes and determines the related information of a target object to be grabbed according to the grabbing instruction, such as the type, the material, the size and the like of the target object; and then detecting the spatial position of the target object.
And the mechanical arm is provided with an execution end, and the execution end is used for grabbing the target object. The executing end may be a claw shape or a sucker shape, as shown in fig. 2, a schematic diagram of a robot arm with the executing end having a claw-shaped structure for grabbing an object is shown, when the robot arm (a main body is not shown) grabs a target object 21, the target object is fixed by the executing end of the robot arm and then grabbed; optionally, the actuating end is comprised of two or more gripping fingers 22. Acquiring the spatial position of the target object in a visual identification mode, for example, detecting the position of the target object by a camera; further, the target object may include a plurality of objects, and at this time, a spatial position of each object is obtained, and the spatial position of the target object is composed of the spatial position of each object, and each object is grabbed one by one when grabbing.
Step S12, calculating a moving path when the mechanical arm grabs the target object according to the space position;
in the step, a moving path of the execution end of the mechanical arm to the target object is calculated according to the identified spatial position of the target object and the current position of the mechanical arm. For example, the direction of the robot arm when moving, the gripping angle at which the execution end grips the target object, and the like are calculated.
Alternatively, the coordinate origin may be pre-selected during calculation to establish a coordinate system, and then the coordinates of the target object and the current coordinates of the execution end are calculated according to the selected coordinate origin, so as to determine the moving path when the execution end grabs the target object. Of course, the user may also preset the method for calculating the moving path so that the robot arm can accurately catch the target object.
Step S13, moving the robot arm along the moving path until an executing end of the robot arm touches the target object, wherein the executing end is used for grabbing a substance;
in the embodiment provided by the application, the mechanical arm is controlled to move along the calculated moving path, and whether the execution end touches a target object or not is monitored in the moving process; and if the execution end is monitored to touch the target object, stopping the movement of the mechanical arm. The moving path comprises a path of the mechanical arm in the process of moving from the current position to the position of the target substance and a grabbing path of the executing end in the process of contacting the target object.
Further, when determining whether the execution end touches the target object, photos of the execution end and the target object can be obtained in a visual recognition mode, and whether the execution end touches the target object is judged; or whether the actuating end is contacted with the target substance is determined according to the magnitude of the counterforce by detecting whether the actuating end receives the counterforce from the target object.
Optionally, in the process of moving the mechanical arm, detecting whether an obstacle appears on the moving path; when an obstacle appears, detecting the shape and the size of the obstacle; and determining a path for bypassing the obstacle according to the shape and the size of the obstacle, and controlling the mechanical arm to bypass the obstacle according to the calculated path. And after the mechanical arm bypasses the obstacle, controlling the mechanical arm to move to the moving path according to the degree of the current position of the mechanical arm deviating from the moving path so as to continuously move the mechanical arm on the moving path. Step S14, detecting the counterforce borne by the execution end, and determining the gripping force of the execution end on the target object according to the counterforce;
in the step, after the execution end touches the target object, the reaction force received by the execution end is detected; when the execution end grabs the target object, the execution end applies a grabbing force to the target object at the contact position of the execution end and the target object so as to grab the target object, and the corresponding execution end simultaneously receives a reaction force from the target object; the reaction force is the same as the gripping force. In order to determine the appropriate gripping force for the current target object, the reaction force applied to the execution end is detected; and if the reaction force reaches the corresponding force value of the target object, determining that the holding force applied by the current execution end to the target object is the force suitable for holding the target object.
And step S15, controlling the mechanical arm to complete the grabbing of the target object with the grabbing force.
Specifically, according to the gripping force determined in step S14, the robot arm is controlled to grip the target item with the determined gripping force.
According to the embodiment provided by the application, after the mechanical arm receives the grabbing instruction, the spatial position of the target object is detected and detected according to the grabbing instruction, then the moving path of the mechanical arm when the mechanical arm grabs the target object is calculated according to the spatial position of the target object, and the mechanical arm is controlled to move along the calculated moving path until the execution end on the mechanical arm touches the target object. After the execution end touches the target object, the reaction force of the execution end from the target object is detected, the gripping force of the execution end on the target object is determined according to the reaction force, and then the execution end is controlled to complete the gripping of the target object according to the determined gripping force. In the process, the execution end can accurately move according to the calculated moving path, and the target object can be grabbed at a proper position; and then the proper gripping force for the current target object is determined according to the counterforce received by the execution end, so that the target object is prevented from falling off due to small gripping force and being damaged due to overlarge gripping force in the process of gripping the target object.
Optionally, fig. 3 shows a schematic implementation flow diagram of the step S12 provided in another embodiment of the present application, including:
step S31, calculating the grabbing angle of the execution end to the target object according to the space position;
in this step, a grabbing angle when the execution end contacts the target object is calculated according to the spatial position of the target object and the current position and state of the execution end, for example: the executing end rotates upwards by 30 degrees relative to the current state and then moves like the object article.
Step S32, determining the moving direction and distance of the mechanical arm according to the grabbing angle;
specifically, after the grabbing angle of the execution end is calculated, the distance and the direction of the execution end which needs to move under the grabbing angle are determined.
And step S33, determining the moving path of the mechanical arm according to the moving direction, the distance and the grabbing angle.
Optionally, in another embodiment provided by the present application, the moving the robot arm along the moving path until an executing end of the robot arm touches the object to be grasped includes:
detecting a reaction force received by the execution end in the process of moving the mechanical arm along the moving path;
and if the counterforce borne by the execution end is greater than a first preset value, determining that the execution end touches the target object.
In the step, when determining whether the execution end of the mechanical arm contacts the target object, monitoring whether the execution end receives the reaction force from the target object in real time in the moving process of the mechanical arm; if the reaction force exists, judging the relation between the reaction force and a first preset value; and when the counterforce received by the execution end is greater than a first preset value, determining that the execution end touches the target object.
Optionally, in another embodiment provided by the present application, the detecting a reaction force applied to the actuating end, and determining a gripping force of the actuating end on the target object according to the reaction force includes:
after the execution end touches the target object, gradually increasing the holding power of the execution end;
detecting a reaction force from the target object received by the actuating end;
if the reaction force reaches a second preset value, acquiring the corresponding holding power of the executing end at the moment; and taking the corresponding gripping force of the execution end at this time as the gripping force for gripping the target object.
In this step, after the execution end touches the target object, the gripping force of the execution end on the target object is gradually increased at a certain frequency, for example, the gripping force of the execution end is increased at a frequency of 5N per second. Meanwhile, the counterforce received by the execution end is detected, whether the counterforce received by the execution end reaches a second preset value or not is judged, when the counterforce reaches the second preset value, the gripping force applied by the execution end to the target object at the moment is recorded, and the gripping force at the moment is used as the appropriate gripping force for gripping the target object.
Optionally, in another embodiment provided by the present application, the method for grabbing by the robot arm further includes:
acquiring a second preset value of a reaction force borne by an execution end when the mechanical arm grabs an object to be grabbed, wherein the second preset value is determined according to characteristic information of a target object;
example two:
fig. 4 is a block diagram showing a grasping system of a robot arm according to an embodiment of the present application, which corresponds to the grasping method of the robot arm according to the above embodiment, and only the portions related to the embodiment of the present application are shown for convenience of explanation.
Referring to fig. 4, the grasping system of the robot arm includes: position acquisition unit 41, calculation unit 42, detection unit 43, control unit 44, wherein:
a position obtaining unit 41, configured to receive a grabbing instruction, and obtain a spatial position of a target object according to the grabbing instruction;
a calculating unit 42, configured to calculate a moving path when the robot arm grabs the target item according to the spatial position;
the detection unit 43 is configured to detect a reaction force applied to the execution end, and determine a gripping force of the execution end on the target object according to the reaction force;
a control unit 44, configured to move the mechanical arm along the moving path until an execution end of the mechanical arm touches the object to be grasped, where the execution end is used to grasp the object; and the mechanical arm is also used for controlling the mechanical arm to complete the grabbing of the target object with the grabbing force.
Further, the calculating unit 42 includes:
the grabbing angle calculation module is used for calculating the grabbing angle of the execution end to the target object according to the space position;
the moving direction determining module is used for determining the moving direction of the mechanical arm according to the grabbing angle;
and the moving path determining module is used for determining the moving path of the mechanical arm according to the moving direction and the grabbing angle.
Further, the detection unit 43 includes:
the force application module is used for increasing the gripping force of the execution end step by step after the execution end touches the target object;
the reaction force detection module is used for detecting the reaction force from the target object received by the execution end;
the grabbing module is used for acquiring the grabbing force corresponding to the actuating end at the moment when the reaction force reaches a second preset value; and taking the corresponding gripping force of the execution end at this time as the gripping force for gripping the target object.
Further, the control unit 44 includes:
the moving module is used for detecting the reaction force applied to the execution end in the process of moving the mechanical arm along the moving path;
and the judging module is used for judging that the actuating end touches the target object when the counterforce borne by the actuating end is greater than a first preset value.
Further, the grasping system of the robot arm further includes:
and the second preset value acquisition unit is used for acquiring a second preset value of a reaction force borne by the execution end when the mechanical arm grabs the object to be grabbed, wherein the second preset value is determined according to the characteristic information of the target object.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Example three:
FIG. 5 is a schematic view of a robotic arm provided in accordance with an embodiment of the present application. As shown in fig. 5, the robot arm 5 of this embodiment includes: a processor 50, a memory 51 and a computer program 52,. The processor 50, when executing the computer program 52, implements the steps in the above-described embodiments of the method for grasping by each robot arm, such as the steps S11-S15 shown in fig. 1. Alternatively, the processor 50, when executing the computer program 52, implements the functions of the modules/units in the above-mentioned device embodiments, such as the functions of the modules 41 to 44 shown in fig. 4.
Illustratively, the computer program 52 may be partitioned into one or more modules/units, which are stored in the memory 51 and executed by the processor 50 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 52 in the robot arm 5. For example, the computer program 52 may be divided into: position acquisition unit, computational element, detecting element, the control unit, wherein:
the position acquisition unit is used for receiving a grabbing instruction and acquiring the spatial position of the target object according to the grabbing instruction;
the calculation unit is used for calculating a moving path when the mechanical arm grabs the target object according to the space position;
the detection unit is used for detecting the counterforce borne by the execution end and determining the gripping force of the execution end on the target object according to the counterforce;
the control unit is used for moving the mechanical arm along the moving path until an execution end of the mechanical arm touches the object to be grabbed, wherein the execution end is used for grabbing the object; and the mechanical arm is also used for controlling the mechanical arm to complete the grabbing of the target object with the grabbing force.
Further, the calculation unit includes:
the grabbing angle calculation module is used for calculating the grabbing angle of the execution end to the target object according to the space position;
the moving direction determining module is used for determining the moving direction of the mechanical arm according to the grabbing angle;
and the moving path determining module is used for determining the moving path of the mechanical arm according to the moving direction and the grabbing angle.
Further, the detection unit includes:
the force application module is used for increasing the gripping force of the execution end step by step after the execution end touches the target object;
the reaction force detection module is used for detecting the reaction force from the target object received by the execution end;
the grabbing module is used for acquiring the grabbing force corresponding to the actuating end at the moment when the reaction force reaches a second preset value; and taking the corresponding gripping force of the execution end at this time as the gripping force for gripping the target object.
Further, the control unit includes:
the moving module is used for detecting the reaction force applied to the execution end in the process of moving the mechanical arm along the moving path;
and the judging module is used for judging that the actuating end touches the target object when the counterforce borne by the actuating end is greater than a first preset value.
Further, the grasping system of the robot arm further includes:
and the second preset value acquisition unit is used for acquiring a second preset value of a reaction force borne by the execution end when the mechanical arm grabs the object to be grabbed, wherein the second preset value is determined according to the characteristic information of the target object.
The robotic arm may include, but is not limited to, a processor 50, a memory 51. Those skilled in the art will appreciate that figure 5 is merely an example of a robotic arm 5 and does not constitute a limitation of the robotic arm 5 and may include more or fewer components than shown, or some components in combination, or different components, e.g., the robotic arm may also include input output devices, network access devices, buses, etc.
The Processor 50 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 51 may be an internal storage unit of the robot 5, such as a hard disk or a memory of the robot 5. The memory 51 may also be an external storage device of the robot arm 5, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like provided on the robot arm 5. Further, the memory 51 may also include both an internal storage unit and an external storage device of the robot arm 5. The memory 51 is used for storing the computer program and other programs and data required by the robot arm. The memory 51 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. . Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (8)
1. A method for grabbing a robot arm, the method comprising:
receiving a grabbing instruction, and acquiring the spatial position of a target object according to the grabbing instruction;
calculating a moving path of the mechanical arm when the mechanical arm grabs the target object according to the space position;
moving the mechanical arm along the moving path until an execution end of the mechanical arm touches the target object, wherein the execution end is used for grabbing an object;
detecting the counterforce borne by the executing end, and determining the holding power of the executing end on the target object according to the counterforce;
controlling the mechanical arm to complete the grabbing of the target object with the grabbing force;
the calculating the moving path of the mechanical arm when the mechanical arm grabs the target object according to the space position comprises the following steps:
calculating the grabbing angle of the execution end to the target object according to the space position and the current position and state of the execution end; determining the moving direction of the mechanical arm according to the grabbing angle; and determining the moving path of the mechanical arm according to the moving direction and the grabbing angle.
2. The method for grasping by a robot arm according to claim 1, wherein said moving the robot arm along the moving path until an execution end of the robot arm touches the target object comprises:
detecting a reaction force received by the execution end in the process of moving the mechanical arm along the moving path;
and if the counterforce borne by the execution end is greater than a first preset value, determining that the execution end touches the target object.
3. A method of grabbing by a robot arm according to claim 1 or 2, wherein said detecting a reaction force applied to said actuator end and determining a grabbing force of said actuator end with respect to said target object based on said reaction force comprises:
after the execution end touches the target object, gradually increasing the holding power of the execution end;
detecting a reaction force from the target object received by the actuating end;
if the reaction force reaches a second preset value, acquiring the corresponding holding power of the executing end at the moment; and taking the corresponding gripping force of the execution end at this time as the gripping force for gripping the target object.
4. The method for gripping of a robot arm according to claim 3, further comprising:
and acquiring a second preset value of the reaction force applied to the execution end when the mechanical arm grabs the target object, wherein the second preset value is determined according to the characteristic information of the target object.
5. A robotic arm gripper system, the robotic arm gripper system comprising:
the position acquisition unit is used for receiving a grabbing instruction and acquiring the spatial position of the target object according to the grabbing instruction;
the calculation unit is used for calculating a moving path when the mechanical arm grabs the target object according to the space position;
the detection unit is used for detecting the counterforce borne by the execution end and determining the gripping force of the execution end on the target object according to the counterforce;
the control unit is used for moving the mechanical arm along the moving path until an execution end of the mechanical arm touches the target object, wherein the execution end is used for grabbing an object; the mechanical arm is further used for controlling the mechanical arm to complete the grabbing of the target object with the grabbing force;
the calculation unit includes:
the grabbing angle calculation module is used for calculating the grabbing angle of the execution end to the target object according to the space position and the current position and state of the execution end; the moving direction determining module is used for determining the moving direction of the mechanical arm according to the grabbing angle; and the moving path determining module is used for determining the moving path of the mechanical arm according to the moving direction and the grabbing angle.
6. The robot arm gripper system of claim 5, wherein said detection unit comprises:
the force application module is used for increasing the gripping force of the execution end step by step after the execution end touches the target object;
the reaction force detection module is used for detecting the reaction force from the target object received by the execution end;
the grabbing module is used for acquiring the grabbing force corresponding to the actuating end at the moment when the reaction force reaches a second preset value; and taking the corresponding gripping force of the execution end at this time as the gripping force for gripping the target object.
7. A robot arm comprising a memory, a processor and a computer program stored in said memory and executable on said processor, wherein said processor implements the steps of the method according to any of claims 1 to 4 when executing said computer program.
8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711489946.9A CN108127666B (en) | 2017-12-29 | 2017-12-29 | Mechanical arm grabbing method and system and mechanical arm |
Applications Claiming Priority (1)
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| CN110434888A (en) * | 2019-07-12 | 2019-11-12 | 中国铁路北京局集团有限公司北京车辆段 | A kind of capture apparatus and its grasping means for grabbing exhaust valve |
| CN110773450A (en) * | 2019-10-30 | 2020-02-11 | 珠海格力智能装备有限公司 | Screening method and device and screening system |
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| CN103753585A (en) * | 2014-01-10 | 2014-04-30 | 南通大学 | Method for intelligently adjusting manipulator and grasping force on basis of visual image analysis |
| JP5905549B1 (en) * | 2014-09-16 | 2016-04-20 | ファナック株式会社 | Article picking device for picking up bulk goods |
| CN104690741B (en) * | 2015-03-09 | 2016-09-07 | 西北农林科技大学 | A kind of arm end effector device |
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