CN111226237A - 用于稳健抓取和瞄准物体的机器人系统和方法 - Google Patents

用于稳健抓取和瞄准物体的机器人系统和方法 Download PDF

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Publication number
CN111226237A
CN111226237A CN201880067484.8A CN201880067484A CN111226237A CN 111226237 A CN111226237 A CN 111226237A CN 201880067484 A CN201880067484 A CN 201880067484A CN 111226237 A CN111226237 A CN 111226237A
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computer
implemented method
object models
sensor
grabbing
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Chinese (zh)
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肯尼思·伊盖尔·金山
杰弗里·布莱恩·马勒
马修·马特尔
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University of California San Diego UCSD
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University of California San Diego UCSD
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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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/163—Program controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1602—Program controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/64—Three-dimensional [3D] objects
    • G06V20/647—Three-dimensional [3D] objects by matching two-dimensional images to three-dimensional objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1612—Program controls characterised by the hand, wrist, grip control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39082—Collision, real time collision avoidance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39505—Control of gripping, grasping, contacting force, force distribution
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39531—Several different sensors integrated into hand
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39542—Plan grasp points, grip matrix and initial grasp force
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40053—Pick 3-D object from pile of objects
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40155—Purpose is grasping objects
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40571—Camera, vision combined with force sensor

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • General Physics & Mathematics (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Artificial Intelligence (AREA)
  • Image Analysis (AREA)
  • Manipulator (AREA)
CN201880067484.8A 2017-09-01 2018-04-04 用于稳健抓取和瞄准物体的机器人系统和方法 Pending CN111226237A (zh)

Applications Claiming Priority (3)

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US201762553589P 2017-09-01 2017-09-01
US62/553,589 2017-09-01
PCT/US2018/026122 WO2019045779A1 (en) 2017-09-01 2018-04-04 ROBOTIC SYSTEMS AND METHODS FOR ROBUST STITCHING AND TARGETING OF OBJECTS

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JP (1) JP2020532440A (https=)
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AU (1) AU2018326171A1 (https=)
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CN113787521A (zh) * 2021-09-24 2021-12-14 上海微电机研究所(中国电子科技集团公司第二十一研究所) 基于深度学习的机器人抓取方法、系统、介质和电子设备
CN114603599A (zh) * 2020-12-08 2022-06-10 山东新松工业软件研究院股份有限公司 一种机器人碰撞检测方法、装置、计算机设备及存储介质
CN114952836A (zh) * 2022-05-19 2022-08-30 中国科学院自动化研究所 多指手机器人抓取方法、装置与机器人系统
CN114986519A (zh) * 2022-07-21 2022-09-02 东南大学 一种基于深度强化学习的混杂场景机械臂精细抓取方法
CN116416444A (zh) * 2021-12-29 2023-07-11 广东美的白色家电技术创新中心有限公司 物体抓取点估计、模型训练及数据生成方法、装置及系统
CN118811238A (zh) * 2024-09-14 2024-10-22 启东泽厚智能科技有限公司 贴标机取料输送用夹爪自适应控制方法及装置
CN121535759A (zh) * 2026-01-19 2026-02-17 成都航天凯特机电科技有限公司 一种高扭矩密度机器人关节模组的控制方法和系统

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CN112115812B (zh) * 2020-08-31 2025-03-14 深圳市联合视觉创新科技有限公司 人体运动信号的标注方法、装置及计算设备
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CN111906781A (zh) * 2020-07-08 2020-11-10 西安交通大学 基于图神经网络的机器人自主工具构建方法、系统及相关设备
CN111906781B (zh) * 2020-07-08 2021-07-13 西安交通大学 基于图神经网络的机器人自主工具构建方法、系统及相关设备
CN114603599A (zh) * 2020-12-08 2022-06-10 山东新松工业软件研究院股份有限公司 一种机器人碰撞检测方法、装置、计算机设备及存储介质
CN113787521A (zh) * 2021-09-24 2021-12-14 上海微电机研究所(中国电子科技集团公司第二十一研究所) 基于深度学习的机器人抓取方法、系统、介质和电子设备
CN116416444A (zh) * 2021-12-29 2023-07-11 广东美的白色家电技术创新中心有限公司 物体抓取点估计、模型训练及数据生成方法、装置及系统
CN114952836A (zh) * 2022-05-19 2022-08-30 中国科学院自动化研究所 多指手机器人抓取方法、装置与机器人系统
CN114986519A (zh) * 2022-07-21 2022-09-02 东南大学 一种基于深度强化学习的混杂场景机械臂精细抓取方法
CN118811238A (zh) * 2024-09-14 2024-10-22 启东泽厚智能科技有限公司 贴标机取料输送用夹爪自适应控制方法及装置
CN121535759A (zh) * 2026-01-19 2026-02-17 成都航天凯特机电科技有限公司 一种高扭矩密度机器人关节模组的控制方法和系统
CN121535759B (zh) * 2026-01-19 2026-04-24 成都航天凯特机电科技有限公司 一种高扭矩密度机器人关节模组的控制方法和系统

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WO2019045779A1 (en) 2019-03-07
EP3676766A4 (en) 2021-05-26
EP3676766A1 (en) 2020-07-08
US20200198130A1 (en) 2020-06-25
US11446816B2 (en) 2022-09-20
JP2020532440A (ja) 2020-11-12
AU2018326171A1 (en) 2020-04-23

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