CN110744551B - Robot clamping jaw movement control method and device, robot and storage device - Google Patents
Robot clamping jaw movement control method and device, robot and storage device Download PDFInfo
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- CN110744551B CN110744551B CN201911141631.4A CN201911141631A CN110744551B CN 110744551 B CN110744551 B CN 110744551B CN 201911141631 A CN201911141631 A CN 201911141631A CN 110744551 B CN110744551 B CN 110744551B
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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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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Abstract
The invention relates to a motion control method and device for a clamping jaw of a robot, the robot and a storage device. The method comprises the following steps: controlling the clamping jaw to clamp an object to be grabbed, and acquiring acting force information borne by the clamping jaw; judging whether the acting force information exceeds a preset threshold value or not; when the acting force information exceeds the preset threshold value, adjusting the position and the posture of the clamping jaw according to the acting force information, continuously executing the step of controlling the clamping jaw to clamp the object to be grabbed and acquiring the acting force information borne by the clamping jaw; and when the acting force information accords with the preset threshold value, stopping adjusting the position and the posture of the clamping jaw. Through the technical scheme, the object to be grabbed can be accurately grabbed, meanwhile, the damage to the object to be grabbed by the clamping jaw can be reduced or avoided, and self-adaption smooth grabbing is realized.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method and a device for controlling the movement of a clamping jaw of a robot, the robot and a device with a storage function.
Background
Robotic devices are an important way to achieve industrial automation. In the field of industrial production and manufacturing, an important application scenario of a robot is to grasp an object and then perform subsequent actions such as placement or assembly. In order to achieve the gripping of the object, the robot first needs to move to the vicinity of the object and then grip with the gripping tool. When a conventional industrial robot grabs an object, an error may exist between an actual relative position and an expected relative position between a grabbing tool and the object, so that the grabbing tool may not be able to firmly grab the object, and the accuracy of the robot operation is affected.
Disclosure of Invention
Based on the above, the application provides a motion control method and device for the clamping jaw of the robot, the motion control method and device for the clamping jaw of the robot can accurately grab an object and has a good protection effect on the grabbed object, the robot and the device with a storage function.
The embodiment of the application provides a motion control method of a clamping jaw of a robot, which comprises the following steps:
controlling the clamping jaw to clamp an object to be grabbed, and acquiring acting force information borne by the clamping jaw;
judging whether the acting force information exceeds a preset threshold value or not;
when the acting force information exceeds the preset threshold value, adjusting the position and the posture of the clamping jaw according to the acting force information, continuously executing the step of controlling the clamping jaw to clamp the object to be grabbed and acquiring the acting force information borne by the clamping jaw;
and when the acting force information accords with the preset threshold value, stopping adjusting the position and the posture of the clamping jaw.
According to the motion control method of the clamping jaw of the robot, the action force information borne by the clamping jaw when the clamping jaw clamps the object to be grabbed is obtained, whether the action force information borne by the clamping jaw exceeds the preset action force threshold value is judged, and the position and the posture of the clamping jaw are adjusted according to the action force information borne by the clamping jaw, so that the object to be grabbed can be accurately grabbed after the position and the posture of the clamping jaw are stopped to be adjusted, meanwhile, the damage of the clamping jaw to the object to be grabbed can be reduced or avoided, and the self-adaptive flexible grabbing is realized.
In one embodiment, the acting force information includes a force applied to the clamping jaw, and the preset threshold includes a preset force threshold;
when the acting force information exceeds the preset threshold value, the step of adjusting the position and the posture of the clamping jaw according to the acting force information comprises the following steps: and when the force borne by the clamping jaw exceeds the preset force threshold value, the position of the clamping jaw is adjusted according to the force borne by the clamping jaw.
In an embodiment, the adjusting the position of the clamping jaw according to the force applied to the clamping jaw specifically includes: and controlling the clamping jaw to move along the direction of the force applied to the clamping jaw.
In one embodiment, the acting force information includes a moment applied to the clamping jaw, and the preset threshold includes a preset moment threshold;
when the acting force information exceeds the preset threshold value, the step of adjusting the position and the posture of the clamping jaw according to the acting force information comprises the following steps: and when the moment borne by the clamping jaw exceeds the preset moment threshold value, the posture of the clamping jaw is adjusted according to the moment borne by the clamping jaw.
In one embodiment, the adjusting the posture of the clamping jaw according to the moment applied to the clamping jaw specifically comprises: and controlling the clamping jaw to rotate, wherein the direction of the angular speed of the rotation of the clamping jaw is the same as the direction of the moment borne by the clamping jaw.
The embodiment of the present application provides a motion control device of clamping jaw of robot, includes:
the control unit is used for controlling the clamping jaws to clamp the object to be grabbed and acquiring acting force information borne by the clamping jaws;
the judging unit is used for judging whether the acting force information exceeds a preset threshold value or not; and
the adjusting unit is used for adjusting the position and the posture of the clamping jaw according to the acting force information when the acting force information exceeds the preset threshold value, continuously controlling the clamping jaw to clamp the object to be grabbed and acquiring the acting force information borne by the clamping jaw;
and the stopping unit is used for stopping adjusting the position and the posture of the clamping jaw when the acting force information accords with the preset threshold value.
In one embodiment, the acting force information includes a force applied to the clamping jaw, and the preset threshold includes a preset force threshold;
the adjusting unit comprises a first adjusting unit, and the first adjusting unit is used for adjusting the position of the clamping jaw according to the force borne by the clamping jaw when the force borne by the clamping jaw exceeds the preset force threshold value.
In one embodiment, the acting force information includes a moment applied to the clamping jaw, and the preset threshold includes a preset moment threshold;
the adjusting unit comprises a second adjusting unit, and the second adjusting unit is used for adjusting the posture of the clamping jaw according to the moment borne by the clamping jaw when the moment borne by the clamping jaw exceeds the preset moment threshold value.
An embodiment of the present invention provides a robot, including a body, a clamping jaw connected to the body, a processor and a memory, which are disposed inside the body, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the method for controlling the movement of the clamping jaw of the robot according to any one of the above technical solutions.
An embodiment of the present application provides an apparatus having a storage function, which stores a computer program, and the computer program, when executed by a processor, implements the steps of the method for controlling the movement of the gripping jaws of the robot according to any one of the above-mentioned technical solutions.
Drawings
Fig. 1 is a schematic view of an overall structure of a robot according to an embodiment;
FIG. 2 is a flow chart of a method of controlling movement of a jaw of a robot according to an embodiment;
FIG. 3 is a schematic view of the robot of FIG. 1 in adjusting the position of the jaws when gripping an object;
FIG. 4 is a schematic view of the robot of FIG. 1 adjusting the pose of the jaws while gripping an object;
fig. 5 is a block diagram showing a configuration of a motion control device of the robot in fig. 1;
fig. 6 is a schematic view of the internal structure of the body of the robot in fig. 1.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It should be noted that when a portion is referred to as being "secured to" another portion, it can be directly on the other portion or there can be an intervening portion. When a portion is said to be "connected" to another portion, it may be directly connected to the other portion or intervening portions may be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
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 to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Fig. 1 is a schematic structural diagram of a robot 100 according to an embodiment. The robot 100 includes a body 120, and a jaw 140 disposed on the body 120. The body 120 has a robotic arm 122. The gripper 140 is connected to the robot arm 122.
In the present embodiment, the clamping jaw 140 is an opening-closing type clamping jaw, such as a two-finger clamping jaw, a three-finger clamping jaw, and the like. The object to be gripped is placed on a support (not shown) with friction between the object to be gripped and the support supporting the object to be gripped, or is placed firmly in a certain position on the support by suitable means, such as a magazine, so that the object to be gripped can have a stable position before being gripped by the gripping jaws 140.
Referring to fig. 2, an embodiment of the present application provides a method for controlling movement of a jaw of a robot. The method for controlling the movement of the jaws of the robot includes steps 220 to 280.
Step 220: and controlling the clamping jaw to clamp the object to be grabbed and acquiring the acting force information borne by the clamping jaw.
The robot 100 is provided with a control device (not shown), which may be provided inside the body 120 of the robot 100 or in an external controller of the robot 100. When the robot 100 grips an object, the control device controls the robot 100 to open the gripping jaws 140, move to the vicinity of the object, and then cause the gripping jaws 140 to perform a closing motion to grip the object to be gripped. The force information experienced by the clamping jaw 140 includes the force and moment experienced by the clamping jaw 140. Since the object has a reaction force and a reaction moment on the clamping jaw 140 when the clamping jaw 140 clamps the object to be gripped, the force on the clamping jaw 140 is derived from the reaction force of the object on the clamping jaw 140, and the moment on the clamping jaw 140 is derived from the reaction moment of the object on the clamping jaw 140.
Specifically, a sensing device, such as a six-dimensional force/torque sensor, may be installed in the clamping jaw 140 or at the connection between the clamping jaw 140 and the robot arm 122, and information about the acting force applied to the clamping jaw 140 may be obtained through real-time detection of the sensing device.
The sensing means may also be a joint force/torque sensor. The information of the acting force at the joint of the robot arm 122 is obtained by providing a sensing device on the joint of the robot arm 122. The information of the applied force of the clamping jaw 140 can be calculated according to the information of the applied force of the mechanical arm 122 at the joint and the dynamic model of the robot 100. The manner of obtaining the kinetic model of the robot 100 is well known to those skilled in the art and will not be described herein.
Step 240: and judging whether the acting force information exceeds a preset threshold value.
Optionally, the preset threshold comprises a preset force threshold. Judging whether the acting force information exceeds a preset threshold value comprises the following steps: it is determined whether the force applied to the clamping jaw 140 exceeds a predetermined force threshold.
Optionally, the preset threshold further comprises a preset torque threshold. Judging whether the acting force information exceeds a preset threshold value comprises the following steps: and judging whether the moment applied to the clamping jaw 140 exceeds a preset moment threshold value.
Step 260: and when the acting force information exceeds the preset threshold value, adjusting the position and the posture of the clamping jaw 140 according to the acting force information, and continuing to execute the step 220.
Optionally, when the acting force information exceeds the preset threshold, adjusting the position and the posture of the clamping jaw 140 according to the acting force information includes: when the force applied to the clamping jaw 140 exceeds the preset force threshold, the position of the clamping jaw 140 is adjusted according to the force applied to the clamping jaw 140.
Referring to fig. 3, in the scenario shown in fig. 3, when the clamping jaw 140 clamps the object 10 to be gripped, a certain position deviation exists. At this time, when only one of the gripping fingers 141 of the two-finger gripping jaw 140 is in contact with the object and the gripping finger 141 applies a gripping force to the object 10 to be gripped, the gripping jaw 140 receives a reaction force from the object 10 to be gripped
. When the clamping jaw 140 is subjected to a force
Exceeding a predetermined force threshold
According to the force applied to the clamping jaw 140
The position of the clamping jaw 140 is adjusted.
The adjusting the position of the clamping jaw 140 according to the force applied to the clamping jaw 140 specifically comprises: controlling the force applied by the clamping jaw 140 along the clamping jaw 140
Is moved.
Specifically, referring to fig. 3, in the present embodiment, the direction of the force from the object received by the clamping jaw 140 is toward the left, and the force received by the clamping jaw 140 is determined according to the direction of the force
The position of the adjusting clamping jaw 140 is specifically as follows: the movement of the gripping jaw 140 toward the left is controlled so that positional deviation when the gripping jaw 140 grips the object 10 to be gripped can be improved. And, due to the force experienced by the jaws 140 along the jaws 140
The force from the clamping jaw 140 on the object 10 to be gripped is reduced during the movement of the clamping jaw 140, so that damage to the object to be gripped by the clamping jaw 140 can be reduced or avoided.
Desired speed of adjustment of the clamping jaw 140
The following formula may be referenced:
wherein the content of the first and second substances,
for compliance adjustment, it can be determined by multiple tests
The value of (c). The adjustment speed of the clamping jaw 140 is determined through the formula, and the force applied to the clamping jaw 140
Exceeding a predetermined force threshold
During the time, the robot can be to the external force quick response that clamping jaw 140 received to the object of treating to snatch is difficult for receiving clamping jaw 140's injury, and simultaneously, clamping jaw 140's speed of adjustment can not be too sensitive again, thereby convenient real-time adjustment clamping jaw 140's position. It should be understood that the speed of adjustment of the clamping jaw 140 is not limited thereto, for example, the speed of adjustment of the clamping jaw 140 may be a fixed value in other embodiments.
Optionally, when the acting force information exceeds the preset threshold, adjusting the position and the posture of the clamping jaw 140 according to the acting force information further includes: when the moment applied to the clamping jaw 140 exceeds the preset moment threshold value, the posture of the clamping jaw 140 is adjusted according to the moment applied to the clamping jaw 140.
Referring to fig. 4, in the scenario shown in fig. 4, the clamping jaw 140 has a certain attitude deviation when clamping an object. At this time, the gripping jaw 140 receives a reaction moment from the object
. When the clamping jaw 140 is subjected to a moment
Exceeding a predetermined torque threshold
According to the moment applied to the clamping jaw 140
The attitude of the clamping jaw 140 is adjusted.
The specific process of adjusting the posture of the clamping jaw 140 according to the moment borne by the clamping jaw 140 is as follows: the rotation of the clamping jaw 140 is controlled, and the direction of the angular velocity when the clamping jaw 140 rotates and the moment applied to the clamping jaw 140 are controlled
In the same direction.
Specifically, in the present embodiment, the moment experienced by the clamping jaw 140
In the direction shown in fig. 4, according to the moment applied to the clamping jaw 140
The posture of the clamping jaw 140 is specifically adjusted as follows: the rotation of the gripping jaw 140 in the clockwise direction is controlled, so that the attitude deviation when the gripping jaw 140 grips the object 10 to be gripped can be improved. And, due to the moment experienced by the jaw 140 along the jaw 140
The moment from the clamping jaw 140 to the object 10 to be gripped is reduced during the rotation of the clamping jaw 140, so that the damage of the clamping jaw 140 to the object to be gripped can be reduced or avoided.
Desired angular velocity of the jaws 140
The following formula may be referenced:
wherein the content of the first and second substances,
for compliance adjustment, it can be determined by multiple tests
The value of (c). The adjustment angular velocity of the clamping jaw 140 is determined through the formula, and the moment applied to the clamping jaw 140
Exceeding a predetermined torque threshold
During the time, the robot can be to the moment quick response that clamping jaw 140 received to the object of treating to snatch is difficult for receiving clamping jaw 140's injury, and simultaneously, the robot can not be too sensitive again to the response of the moment that clamping jaw 140 received, thereby makes things convenient for the gesture of real-time adjustment clamping jaw 140. It should be understood that the adjusted angular velocity of the clamping jaw 140 is not limited thereto, for example, the adjusted angular velocity of the clamping jaw 140 may be a fixed value in other embodiments.
After the position and the posture of the clamping jaw 140 are adjusted, the robot 100 continues to perform step 220, so that the clamping jaw 140 is controlled to perform the closing action, the two clamping fingers 141 approach each other, the object to be clamped is continuously clamped, and the information of the acting force applied to the clamping jaw 140 is obtained.
In other embodiments, if the jaw 140 has no attitude deviation, the step 220 may be continued after only adjusting the position of the jaw 140. If the jaws 140 are not positionally offset, step 220 may continue after only adjusting the attitude of the jaws 140.
Step 280: and when the acting force information accords with the preset threshold value, stopping adjusting the position and the posture of the clamping jaw 140.
Preset force threshold
Can be set according to actual needs, for example, in the embodiment, the force threshold is preset
May be set to zero.
The force to which the clamping jaw 140 is subjected is adjusted in step 260
Meeting a predetermined force threshold
At this point, the adjustment of the position of the clamping jaw 140 is stopped. When both the gripping fingers 141 of the gripping jaw 140 contact the object 10 to be gripped, the gripping jaw 140 is not positionally offset from the object 10 to be gripped. At this time, the object 10 to be gripped has reaction forces on both the gripping fingers, so that the force exerted on the gripping jaws 140 is
Is the sum of the reaction forces of the object 10 to be gripped to the two gripping fingers 141. If the reacting forces of the object 10 to be gripped to the two gripping fingers 141 are the same, the resultant force of the object 10 to be gripped borne by the gripping jaw 140 is zero, i.e. the force borne by the gripping jaw 140 is zero
Meeting a predetermined force threshold
. Thus, the force to which the clamping jaw 140 is subjected
Meeting a predetermined force threshold
When the position deviation between the clamping jaw 140 and the object 10 to be grabbed does not exist, the position of the clamping jaw 140 is stopped being adjusted.
It will be appreciated that in an ideal situation, the total force experienced by the gripping jaw 140 from the object 10 to be gripped may be zero if the gripping jaw 140 is in the desired relative position to the object 10. However, in practical situations, the force applied to the clamping jaw 140 is due to a certain unevenness of the surface of the object 10 to be gripped and the surface of the clamping jaw 140, and due to errors of the force/moment sensing device itself
There may be a slight deviation from the zero value. Thus, a value slightly greater than zero can be set as a predetermined force threshold for the force to which the clamping jaw 140 is subjected
At a predetermined force threshold
Is within the range of (d), the relative position between the jaw 140 and the object 10 may be considered satisfactory.
Preset torque threshold
Can be set according to actual needs, for example, in the embodiment, the torque threshold is preset
May be set to zero.
The moment applied to the clamping jaw 140 is adjusted in step 260
Meet the preset torque threshold value
At this time, the posture of the holding jaw 140 is stopped.
Moment applied to the clamping jaw 140
At zero, the gripping jaw 140 has no attitude deviation from the object 10 to be gripped. Thus, the moment to which the clamping jaw 140 is subjected
Meet the preset torque threshold value
At this time, the posture of the holding jaw 140 is stopped.
In other embodiments, the moment experienced by the clamping jaw 140 may be less than ideal in practice
There may be some deviation from zero and, therefore, the moment experienced by the jaws 140 may also be allowed
Not zero, therefore, a preset torque threshold may be set
Other values than zero.
According to the motion control method of the clamping jaw 140 of the robot 100, the information of the acting force applied to the clamping jaw 140 when the clamping jaw 140 clamps the object 10 to be grabbed is obtained, whether the information of the acting force applied to the clamping jaw 140 exceeds the preset acting force threshold value is judged, and the position and the posture of the clamping jaw 140 are adjusted according to the information of the acting force applied to the clamping jaw 140, so that the object 10 to be grabbed can be accurately grabbed after the position and the posture of the clamping jaw 140 are stopped to be adjusted, meanwhile, the damage of the clamping jaw 140 to the object to be grabbed can be reduced or avoided, and self-.
Referring to fig. 5, an embodiment of the present invention further provides a device 300 for controlling the movement of a clamping jaw of a robot, including a control unit 320, a determining unit 340, an adjusting unit 360, and a stopping unit 380. Wherein the content of the first and second substances,
the control unit 320 is used for controlling the clamping jaw 140 to clamp an object to be grabbed and acquiring acting force information borne by the clamping jaw 140;
the judging unit 340 is configured to judge whether the acting force information exceeds a preset threshold;
the adjusting unit 360 is used for adjusting the position and the posture of the clamping jaw 140 according to the acting force information when the acting force information exceeds a preset threshold value, continuously controlling the clamping jaw 140 to clamp the object to be grabbed, and acquiring the acting force information borne by the clamping jaw 140;
and the stopping unit 380 is used for stopping adjusting the position and the posture of the clamping jaw 140 when the force information meets the preset threshold value.
In one embodiment, the force information includes a force experienced by the clamping jaw 140 and the predetermined threshold includes a predetermined force threshold. The adjusting unit 360 includes a first adjusting unit (not shown). The first adjusting unit is used for adjusting the position of the clamping jaw 140 according to the force applied to the clamping jaw 140 when the force applied to the clamping jaw 140 exceeds a preset force threshold value.
In one embodiment, adjusting the position of the clamping jaw 140 according to the force applied to the clamping jaw 140 specifically includes: the jaws 140 are controlled to move in the direction of the force experienced by the jaws 140.
In one embodiment, the force information includes a torque experienced by the clamping jaw 140 and the predetermined threshold includes a predetermined torque threshold. The adjusting unit 360 further includes a second adjusting unit (not shown), and the second adjusting unit 361 is configured to adjust the posture of the clamping jaw 140 according to the moment applied to the clamping jaw 140 when the moment applied to the clamping jaw 140 exceeds a preset moment threshold.
In one embodiment, adjusting the posture of the clamping jaw 140 according to the moment applied to the clamping jaw 140 specifically includes: the jaws 140 are controlled to rotate, wherein the direction of the angular velocity of the rotation of the jaws 140 is the same as the direction of the moment experienced by the jaws 140.
The implementation of the units in the motion control device 300 of the robot gripping jaw provided in the embodiments of the present application may be in the form of a computer program. The computer program may be run on a terminal or a server. The program modules constituted by the computer program may be stored on the memory of the terminal or the server. Which when executed by a processor, performs the steps of the methods described in the embodiments of the present application.
The embodiment of the application also provides a robot. Referring to fig. 6, the robot includes a body 420, a clamping jaw (not shown) connected to the body, a processor 421 disposed on the body 420, and a memory 422. The memory 422 has stored therein a computer program which, when executed by the processor 421, causes the processor 421 to perform the steps of the method of controlling the movement of the jaws of the robot. The process of implementing the method for controlling the movement of the robot gripping jaw is as described in the above embodiments, and will not be described herein again.
The embodiment of the application also provides a device with a storage function. The means having storage capability are one or more non-transitory computer-readable storage media containing computer-executable instructions that, when executed by one or more processors, cause the processors to perform the steps of the method for motion control of the jaws 140 of the robot 100.
Any reference to memory, storage, database, or other medium used by embodiments of the present application may include non-volatile and/or volatile memory. Suitable non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM), which acts as external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), synchronous Link (Synchlink) DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and bus dynamic RAM (RDRAM).
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (6)
1. A method of controlling movement of a jaw of a robot, comprising:
controlling the clamping jaw to clamp the object to be grabbed, and acquiring acting force information of the clamping jaw when the clamping jaw clamps the object to be grabbed;
judging whether the acting force information exceeds a preset threshold value or not;
when the acting force information exceeds the preset threshold value, adjusting the position and the posture of the clamping jaw according to the acting force information;
continuing to execute the step of controlling the clamping jaw to clamp the object to be grabbed and acquiring the acting force information of the clamping jaw when the clamping jaw clamps the object to be grabbed, and stopping adjusting the position and the posture of the clamping jaw until the acting force information accords with the preset threshold value;
the acting force information comprises the force borne by the clamping jaw when the clamping jaw clamps an object to be grabbed, and the preset threshold comprises a preset force threshold; when the acting force information exceeds the preset threshold value, the step of adjusting the position and the posture of the clamping jaw according to the acting force information comprises the following steps: when the force borne by the clamping jaw exceeds the preset force threshold value, the position of the clamping jaw is adjusted according to the force borne by the clamping jaw when the clamping jaw clamps an object to be grabbed, wherein the expected adjusting speed of the clamping jaw is as follows:
wherein, in the step (A),
in order to adjust the proportion in a compliant way,
the force to which the gripping jaws are subjected when they grip the object to be gripped,
is a preset force threshold;
the acting force information further comprises the moment borne by the clamping jaw when the clamping jaw clamps an object to be grabbed, and the preset threshold value comprisesPresetting a torque threshold; when the acting force information exceeds the preset threshold value, the step of adjusting the position and the posture of the clamping jaw according to the acting force information comprises the following steps: when the moment borne by the clamping jaw exceeds the preset moment threshold value, the posture of the clamping jaw is adjusted according to the moment borne by the clamping jaw when the clamping jaw clamps an object to be grabbed, wherein the expected adjusting angular speed of the clamping jaw is as follows:
wherein, in the step (A),
in order to adjust the proportion in a compliant way,
is the moment borne by the clamping jaw when the clamping jaw clamps an object to be grabbed,
is a preset torque threshold.
2. Method for controlling the movement of a gripping jaw of a robot according to claim 1, characterized in that said adjusting the position of said gripping jaw according to the force to which said gripping jaw is subjected is in particular: and controlling the clamping jaw to move along the direction of the force applied to the clamping jaw.
3. The method for controlling the movement of a gripping jaw of a robot according to claim 1, wherein the adjusting of the posture of the gripping jaw according to the moment applied to the gripping jaw is specifically: and controlling the clamping jaw to rotate, wherein the direction of the angular speed of the rotation of the clamping jaw is the same as the direction of the moment borne by the clamping jaw.
4. A device for controlling the movement of a gripper of a robot, comprising:
the control unit is used for controlling the clamping jaw to clamp the object to be grabbed and acquiring the acting force information of the clamping jaw when the clamping jaw clamps the object to be grabbed;
the judging unit is used for judging whether the acting force information exceeds a preset threshold value or not; and
the adjusting unit is used for adjusting the position and the posture of the clamping jaw according to the acting force information when the acting force information exceeds the preset threshold value, continuously controlling the clamping jaw to clamp the object to be grabbed, and acquiring the acting force information of the clamping jaw when clamping the object to be grabbed;
the stopping unit is used for stopping adjusting the position and the posture of the clamping jaw when the acting force information accords with the preset threshold value;
wherein, effort information includes the clamping jaw is when the centre gripping is waited to snatch the object the power that the clamping jaw receives, preset the threshold value including presetting the power threshold value, the adjustment unit includes first adjustment unit, first adjustment unit is used for working as the power that the clamping jaw receives surpasses when presetting the power threshold value, according to the power adjustment that the clamping jaw receives when the centre gripping is waited to snatch the object the position of clamping jaw, wherein, the expectation speed of adjustment of clamping jaw is:
wherein, in the step (A),
in order to adjust the proportion in a compliant way,
the force to which the gripping jaws are subjected when they grip the object to be gripped,
is a preset force threshold; and the combination of (a) and (b),
the acting force information comprises the moment borne by the clamping jaw when the clamping jaw clamps an object to be grabbed, the preset threshold comprises a preset moment threshold, and the adjusting unit further comprises a second adjusting unitAnd the second adjusting unit is used for adjusting the posture of the clamping jaw according to the moment borne by the clamping jaw when the clamping jaw clamps an object to be grabbed when the moment borne by the clamping jaw exceeds the preset moment threshold value, wherein the expected adjusting angular speed of the clamping jaw is as follows:
wherein, in the step (A),
in order to adjust the proportion in a compliant way,
is the moment borne by the clamping jaw when the clamping jaw clamps an object to be grabbed,
is a preset torque threshold.
5. A robot comprising a body, a gripper connected to the body, a processor and a memory arranged inside the body, the memory having stored therein a computer program which, when executed by the processor, causes the processor to carry out the steps of the method of motion control of a gripper of a robot according to any of claims 1 to 3.
6. An apparatus having a memory function, characterized in that a computer program is stored which, when being executed by a processor, carries out the steps of the method of motion control of a jaw of a robot according to any one of claims 1 to 3.
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| CN111285103B (en) * | 2020-03-30 | 2021-07-06 | 东莞市柏瑞达塑料模具制品有限公司 | High-precision grabbing equipment based on electrical control |
| CN111890343B (en) * | 2020-07-29 | 2021-10-15 | 浙江广合智能科技有限公司 | Robot object collision detection method and device |
| CN112830231A (en) * | 2020-12-30 | 2021-05-25 | 深圳市华星光电半导体显示技术有限公司 | Clamping method and device for display panel |
| CN113066233A (en) * | 2021-04-02 | 2021-07-02 | 上海点拾科技有限公司 | PLC intelligent medicine dispensing system |
| CN113593197B (en) * | 2021-07-30 | 2023-05-02 | 深圳市华星光电半导体显示技术有限公司 | Substrate positioning monitoring system and monitoring method |
| WO2023065102A1 (en) * | 2021-10-19 | 2023-04-27 | Shanghai Flexiv Robotics Technology Co., Ltd. | Gripper and robot having the same |
| CN113970969B (en) * | 2021-12-27 | 2022-04-26 | 深圳市心流科技有限公司 | Bionic hand pressure alarm method, bionic hand, terminal and storage medium |
| CN114229451A (en) * | 2021-12-30 | 2022-03-25 | 宁波智能成型技术创新中心有限公司 | Intelligent grabbing anti-falling detection and regulation method based on multi-axial force and moment |
| CN114734477A (en) * | 2022-05-18 | 2022-07-12 | 常州节卡智能装备有限公司 | Clamping jaw device and clamping and rotating system |
| CN117549338B (en) * | 2024-01-09 | 2024-03-29 | 北京李尔现代坦迪斯汽车系统有限公司 | Grabbing robot for automobile cushion production workshop |
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| JP3818986B2 (en) * | 2003-07-08 | 2006-09-06 | ファナック株式会社 | Mating device |
| JP2005205551A (en) * | 2004-01-23 | 2005-08-04 | Mitsubishi Heavy Ind Ltd | Satellite, manipulator device and satellite control method |
| JP5170175B2 (en) * | 2010-06-30 | 2013-03-27 | 株式会社安川電機 | Robot system |
| JP5834478B2 (en) * | 2011-05-10 | 2015-12-24 | セイコーエプソン株式会社 | robot |
| DE102013220798A1 (en) * | 2013-10-15 | 2015-04-16 | Kuka Laboratories Gmbh | Method for handling objects by means of at least two industrial robots, and associated industrial robots |
| JP6454960B2 (en) * | 2013-10-31 | 2019-01-23 | セイコーエプソン株式会社 | Robot, robot system, robot controller |
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