CN113352314A - Robot motion control system and method based on closed-loop feedback - Google Patents
Robot motion control system and method based on closed-loop feedback Download PDFInfo
- Publication number
- CN113352314A CN113352314A CN202010152842.4A CN202010152842A CN113352314A CN 113352314 A CN113352314 A CN 113352314A CN 202010152842 A CN202010152842 A CN 202010152842A CN 113352314 A CN113352314 A CN 113352314A
- Authority
- CN
- China
- Prior art keywords
- robot
- target object
- motion control
- closed
- position relation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- 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
-
- 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
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
-
- 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
- B25J9/1694—Programme 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
Abstract
The invention provides a robot motion control system based on closed-loop feedback, which is characterized in that one or more 3D cameras arranged on a robot are used for collecting image data of a target object in an application scene; the image data processing unit processes the acquired image data to obtain position relation data between the target object and the robot; the control processing unit of the robot analyzes and judges the position relation data, and judges and controls the robot to acquire new position relation data in a mode of gradually approaching a target object according to the data fed back by the closed loop; when the position relation reaches a set distance or position, the intelligent operation unit of the robot operates the target object. The invention also provides a robot motion control method based on closed-loop feedback. The invention effectively solves the problems that the mechanical structure motion control system of the robot in the prior art is complex in design, low in efficiency and accuracy of the motion control process of the robot, high in cost and capable of bringing limitations to the application field.
Description
Technical Field
The invention relates to the technical field of Artificial Intelligence (AI) application, in particular to an intelligent robot motion control system based on closed-loop feedback and an implementation method thereof.
Background
Artificial intelligence is a technology for simulating thinking and actions of human beings by using modern equipment such as computers, and robot equipment based on artificial intelligence gradually enters various industrial application fields and use environments to replace or replace human beings in daily life or work to realize various specific operations and work contents. The intelligent robot is an important component of future AI development, and the motion capability of the robot comprises moving, obstacle avoidance, object grabbing and placing and the like. How to make the robot equipment move more quickly and accurately is one of the important indexes for measuring the AI degree of the robot.
At present, the motion design of the intelligent robot in the prior art is a complex and expensive open-loop system (open-loop), for example, in industrial application, the robot arm is grabbed by controlling the motion device on the robot arm through a controller, and the grabbing is performed at one time. The one-off action is very accurate due to avoiding the grabbing action from overshooting or undershooting, which requires precise matching of the algorithm and mechanical parts of the robot, and in order to achieve the precise matching, the moving part is designed to adopt a precise device of a 'reducer', such as a harmonic reducer, an RV reducer (rotation Vector) and the like. These mechanically constructed retarder units are currently only available in germany and japan and are very expensive. Therefore, the manufacturing and processing costs of the robot are very high, the price is high, and the robot still has a large distance to enter the real-life application. In the design and application of robots in the prior art, a technical implementation scheme for realizing robot control and application by using an intelligent robot and a speed reducer device is disclosed and recorded in a utility model patent document with the publication number of CN 208966994U and the name of "a robot speed reducer and robot".
Fig. 1 is a schematic structural diagram of a motion control system and a part of motion control components thereof for a robot application in the prior art, and as shown in the figure, a motion control component 130 analyzes parameters sent by a control device 110 to regulate and drive the operation of a motion component 140. The moving part 140 includes a motor and a reducer device, and the motor drives the reducer to operate, so as to drive the mechanical arm device of the robot to perform various motion control operations. According to the technical scheme, the robot motion control system drives a plurality of mechanical structure parts to realize motion control step by step, the robot motion control process is relatively complex, and the efficiency is relatively low.
Based on the various problems, the invention aims to solve the problems that the impact resistance of the operation control process of the speed reducer device adopted by the current robot equipment in the application process is poor, the machining difficulty of a mechanical device is high, the cost is high, the mechanical structure design is complex, and the operation and control efficiency is required to be improved. Therefore, the invention provides an innovative closed-loop interactive motion control implementation mode to replace and solve the motion control system and the control implementation mode of the intelligent robot in the prior art.
Disclosure of Invention
The invention aims to provide a robot motion control system based on closed-loop feedback, which adopts a closed-loop interaction mode to realize the motion control of a robot, and the system comprises:
an image data acquisition unit, which may be one or more 3D (3D) cameras disposed on the robot, for acquiring three-dimensional image data of a target object in an application scene of the robot; or one or more other sensor devices capable of three-dimensional image data acquisition functionality; the 3D camera or the sensor device may have a high frame rate image output mode;
the image data processing unit is arranged in the robot and is used for processing the image information data acquired by the image data acquisition unit so as to determine the position relation data between the target object and the robot;
the intelligent operation unit of the robot can be a mechanical arm or a component of other intelligent mechanical structures of the robot;
the control processing unit is arranged in the robot, analyzes and judges the position relation data fed back by the image processing unit, and determines whether the robot is controlled to move or an intelligent operation unit for controlling the robot operates a target object according to the analysis and judgment result;
further, the control processing unit controls the movement of the robot, including: controlling the moving speed, the moving mode or the moving speed and the moving mode; the operation control of the robot can be set according to specific application, such as grabbing and other operation actions;
further, the control processing unit determines, according to a result of analyzing and judging the positional relationship data: when the position relation between the target object and the robot does not reach the set distance position relation, controlling the robot to move so as to further acquire new position relation data between the target object and the robot; when the position relation is determined to reach the set position relation, controlling an intelligent operation unit of the robot to perform operation action on the target object; the position relation data may include distance data or position coordinate information data, or distance and position coordinate information data;
further, the image data acquisition unit may be disposed on the robot, and may be disposed on different parts of the robot, such as a mechanical arm of the robot, or a head of the robot, or other parts of the robot, according to the application, so as to achieve the purpose of acquiring the image information data of the target object.
Based on the motion control system, the invention also provides a robot motion control method based on closed-loop feedback, which comprises the following implementation steps:
an image data acquisition unit of the robot acquires image information data of a target object in an application scene;
processing the acquired image information data to acquire position relation data between the robot and the target object;
analyzing and judging the obtained position relation data, and determining to perform movement control or operation control on the robot according to the analysis and judgment result;
when the position relation data between the robot and the target object reaches the set position relation, controlling the robot to perform operation control to finish the operation process of the target object, such as grabbing operation; when the determined position relation is not reached, the robot is subjected to movement control, and new position relation data between the target object and the robot are further acquired; the position relation comprises distance data, or position information data, or distance and position information data;
further, the image data acquisition unit is one or more 3D camera devices disposed on the robot, and is configured to acquire three-dimensional image data of the target object, or one or more other sensor devices capable of implementing an image information acquisition function; the 3D camera or the sensor device may have a high frame rate image output mode;
further, the movement control of the robot comprises the control of a movement mode and/or a movement speed, and when the analysis and judgment result shows that the target object is far away from the robot, the movement speed of the robot is accelerated; when the target object is closer to the robot, reducing the moving speed of the robot;
furthermore, the robot is controlled to move in a mode of gradually approaching the control process of the target object according to the position relation data fed back by the closed loop, and new position relation data between the target object and the robot can be acquired for multiple times in the movement control process;
further, the image data acquisition unit may be disposed on the robot, and may be disposed on a mechanical arm of the robot, or a head position of the robot, or other parts of the robot, according to a specific robot application.
According to the invention, an innovative closed-loop interactive motion control mode is adopted, the image data acquisition unit of the robot adopts one or more 3D cameras to acquire the three-dimensional image data of the target object, the 3D cameras have a high frame rate output mode, and the movement control process of the robot adopts a gradually approaching closed-loop feedback control mode, so that the efficiency of the robot motion control process can be effectively improved. According to the scheme of the invention, the complicated mechanical structure motion control adopted by the robot in the prior art is converted into the electronic device control process which is simple in design and easy to realize in the control process, so that the problems of low robot motion control accuracy, complicated mechanical design structure and control process, high cost and the like in the prior art are effectively solved. The technical solution provided by the invention is beneficial to the development of various application fields of robots and miniaturized robot equipment, such as unmanned vehicles, unmanned aircrafts, robot dogs, robot cats and the like, and provides a premise for the technical innovation and development for the popularization and application of AI robots in the future.
Drawings
FIG. 1 is a schematic diagram of a motion control system of a robotic device of the prior art;
FIG. 2 is a basic block diagram of a robot motion control system based on closed-loop feedback provided by the present invention;
FIG. 3 is a basic flowchart of a robot motion control method based on closed-loop feedback according to the present invention; and
FIG. 4 is a schematic diagram of a closed-loop feedback control process of the control system of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described below with reference to a plurality of drawings provided by the present invention. Those skilled in the art will appreciate that the embodiments described herein are illustrative of some, but not exhaustive, of the embodiments in which the invention can be practiced. Other embodiments of the present invention are also within the scope of the present invention. Reference throughout this patent specification to "one example," "an embodiment," or "one application" means that a particular feature, structure, or characteristic described in connection with the example is included in at least one example of the present invention. Thus, the appearances of the phrases "in one example," "in an embodiment," or "in an application example" in various places throughout this specification are not necessarily all referring to the same example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more examples.
Fig. 2 is a basic block diagram of a robot motion control system based on closed-loop feedback, and the functional modules and control modes in fig. 2 are only for the purpose of schematically illustrating the implementation of the motion control system, and the motion control system of the robot is not limited to include only some contents shown in the figure. As shown in fig. 2, the robot motion control system 200 based on closed-loop feedback includes an image data acquisition unit 201, an image data processing unit 202, an intelligent operation unit 203 of the robot, and a control processing unit 204 of the robot.
The image data collecting unit 201 may be one or more 3D cameras, disposed on the robot, and configured to collect three-dimensional image data of a target object in an application scene of the robot, for example, image data of a beverage bottle on a production line in an industrial application field, or image data of a target object in other application scenes of the robot. The image data acquisition can adopt one 3D camera, or a plurality of 3D cameras are combined to realize the three-dimensional image information data acquisition of the target object according to specific application. The 3D camera can be designed by adopting various technical implementation modes, for example, a 3D camera designed by adopting structured light, a binocular stereo vision camera, or a TOF (time of flight) camera based on light flight calculation, and the like. The 3D camera may have an output mode with a high frame rate to improve the efficiency of the image output and data feedback process, for example, its output frame rate is 1000 fps. The image data acquisition unit 201 may also be designed to employ another sensor device or a combination of several sensor devices capable of implementing the above-mentioned image data acquisition, so as to implement a function of acquiring three-dimensional image data of the target object, for example, an image data acquisition unit of the target object constituted by a sensor, a scanning device, and the like may be employed. The image data acquisition unit 201 adopting different schemes can be designed according to specific application environments or different application requirements of acquired images, and the 3D camera device recorded in the application example of the present invention does not limit the design scheme of the image data acquisition unit. The image processing unit 202 calculates and processes three-dimensional image data of the target object acquired by the 3D camera device, and may derive positional relationship data between the target object and the robot.
The control processing unit 204 of the robot analyzes and determines the positional relationship data and further processes the data, and if the analysis and determination result shows that the positional relationship between the target object and the robot has not reached a predetermined distance or position, for example, a predetermined distance or position, the control processing unit performs a movement control operation on the robot. The movement control of the robot comprises the control of the movement speed and the control of the movement mode of the robot, and can be set according to specific applications, the movement speed of the robot is increased when the distance is relatively far, and the movement speed can be properly adjusted and reduced when the distance is relatively close. The robot can also be rotated by a certain angle according to specific design application so as to adapt the position relation of an intelligent operation unit of the robot, such as a manipulator, and a target object. The movement control is a control process of gradually approaching the target object to reach a set operating distance or position by continuously updating position relation data between the target object and the robot and carrying out closed-loop feedback. The realization mode can effectively improve the efficiency of the robot motion control process, can avoid the problem of overshoot which is easy to occur in the prior art by adopting one-time mobile control, and has high efficiency and smooth running process in the whole operation process. When the position relationship between the target object and the robot reaches a preset distance or position, the control processing unit 204 of the robot controls the smart operation unit 203 to perform an operation, for example, controls the smart operation unit 203 to perform a specific operation action such as grasping the target object. The smart operation unit 203 may be a smart arm of an industrial robot, or a manipulator, a mechanical foot, or other mechanical structure device of a robot apparatus in other application fields.
The robot motion control system based on the closed-loop feedback provided by the invention adopts a design implementation scheme of an electronic device, and can replace and simplify the complex mechanical control structure control in the robot motion control system in the prior art, such as the control of a speed reducer device and a motor drive for realizing the control of the robot motion part, wherein the speed reducer device has the advantages of complex structure design, high processing cost and low control efficiency. The technical scheme of the motion control system can be applied to motion control of robot devices in various industries and application fields, such as unmanned vehicles, unmanned planes, robot dogs, robot cats and other various AI intelligent robot equipment.
Fig. 3 is a basic flowchart of a robot motion control method based on closed-loop feedback according to the present invention, and details a process of the robot motion control based on closed-loop feedback are described in conjunction with the robot motion control system shown in fig. 2. In the implementation scheme of this embodiment, the image data acquisition unit installation that comprises the 3D camera sets up on the robot to industrial robot application field in the robot arm as intelligent operation unit as the application embodiment, industrial robot snatchs the operation such as to the target object in the scene according to setting for. However, the technical solution of the present invention is not limited to the application of industrial robots, and if the present invention is applied to walking robots, the 3D image sensor device or the 3D camera included in the data acquisition unit may be disposed at other functional parts of the robot. Taking an industrial application robot as an example, the robot motion control method provided by the scheme of the invention has the following concrete implementation processes:
s01: acquiring image information data of a target object in an application scene;
one or more 3D cameras are arranged on the robot, recognition of a target object in an application scene and collection of image data are achieved according to setting, the 3D cameras or the 3D image sensors acquire three-dimensional image data of the target object, and depth information data of the target object can be calculated according to the three-dimensional image coordinate data so as to restore data information of the target object in a real scene. The 3D camera can adopt various design implementation modes based on structured light design, binocular vision design scheme or TOF light flight time calculation in the specific application implementation process. In the embodiment of the application, the adopted 3D camera technical design scheme is not limited, and 3D camera forms of different design types can be adopted according to specific applications. All 3D camera devices that can achieve the above-described three-dimensional image data acquisition result of the target object fall within the scope of the implementable protection of the solution of the present invention. To improve the efficiency of the robot motion control process, the 3D camera may employ a high frame rate output mode, such as an output frame rate of 1000fps, to improve the efficiency of the image data processing process. Different image output modes can be adopted according to specific application designs.
The 3D camera device can be fixedly arranged on the robot, specifically, the device can be arranged on a mechanical arm of the industrial robot in the scheme provided by the embodiment of the application, and the device can acquire the image data of the target object along with the moving process of the mechanical arm. Aiming at robot equipment in different application fields, a 3D camera device or a 3D image sensor unit for acquiring image data can be arranged at the head of a robot, on other suitable positions such as the periphery of the body of the robot, on the body of an unmanned aerial vehicle device and the like, and the requirement of the three-dimensional image data acquisition of a target object in a scene on the robot can be met.
S02: processing the acquired image information data to acquire position relation data between the robot and the target object;
the image processing unit of the robot processes the acquired three-dimensional image information data, and data of the position relationship between the robot and the target object, such as information data of distance, angle, specific position coordinates and the like, can be obtained through calculation;
s03: analyzing and judging the obtained position relation data, and determining to perform movement control or operation control on the robot according to the analysis and judgment result;
the control processing unit analyzes and judges the obtained data of the position relationship between the robot and the target object, and controls the robot to move if the preset position relationship is not reached; if the set position relation is reached, controlling a mechanical arm of the robot to operate a target object, such as grabbing a beverage bottle;
in the process of moving the robot, the robot can be controlled according to the distance or the position relation between the robot and the target object, for example, when the target object is far away from the robot, the moving speed of the robot is accelerated; when the target object is close to the robot, the moving speed of the robot can be reduced, the moving speed of the robot can be reasonably controlled by the implementation mode, the times of motion control are reasonably optimized, and the efficiency of the moving control process is improved. In the process of controlling the movement of the robot, the robot can be controlled according to specific application, for example, when the direction displacement has deviation, the angle of the robot can be adjusted according to the analysis result data so as to rotate the intelligent operation unit of the robot to accurately correspond to the set position or direction.
When the robot is controlled to a new position through movement, the 3D camera continues to acquire image information data of the target object, further obtains new position relation data between the robot and the target object, and continues to analyze and judge the new position relation data, so as to determine whether the robot needs to be controlled to move or whether the intelligent mechanical arm device of the robot can operate the target object. As shown in fig. 4, the whole motion control process of the robot is that the robot approaches to the target object in a gradually approaching control manner according to the closed-loop feedback data, and the closed-loop feedback interaction manner can smoothly and accurately complete the motion control process of the robot, so that the problem that the moving speed is too high or the moving distance or position cannot reach the accurate operation position due to the one-time motion control process can be avoided, and the problem of overshoot or misoperation of the mechanical arm of the robot in the operation process can be avoided.
In this step, the robot arm of the industrial robot used in the embodiment of the present application may be fixedly provided on a support having a sliding or rotating function, which can smoothly move or rotate on a rail or a mechanism, or the like. In other possible application embodiments, the robot may be designed as other intelligent devices with multiple functions of walking, turning around, and the like. The motion control process of the application embodiment of the robot arm of the industrial robot in the embodiment is for the purpose of illustration, and does not limit the specific implementation process of the motion control or the specific robot application or structural design form of the solution of the present invention, and the purpose of smoothly implementing the motion control process of the intelligent robot by using the technical solution provided by the present invention belongs to the protection of the solution that can be implemented by the present invention.
S04: an intelligent operation unit of the robot performs operation control on a target object;
when the position relation data between the robot and the target object reaches the set distance or position, the control processing unit controls the mechanical arm of the robot or other intelligent mechanical operation devices to grab the target object, and the like, so that the mechanical arm of the robot smoothly completes the operation process of the target object. Specific operation applied to the mechanical arm of the industrial robot field is actions such as grabbing, and operation control of robot equipment in other application fields can be that the mechanical arm operates a button switch or operates other equipment.
Compared with a robot motion control implementation method in the prior art, the robot motion control method based on closed-loop feedback improves the motion control process of mechanical structural parts with complex robot equipment in the prior art, so that the whole motion control process is simpler and easier to control, the efficiency of the control process of closed-loop feedback is higher, the result accuracy of the motion control process is high, and the problems of high design and processing cost and high difficulty of the mechanical structure are avoided. The robot motion control method provided by the invention can be popularized and applied to motion control processes of various AI devices, for example, the motion control method of the robot provided by the invention is popularized and applied to the motion control process of small AI devices with simple structures. The robot equipment can enter daily life or work, is beneficial to promoting the industrial automation development and transformation of enterprises, and can provide an innovative technical premise for the extension design and development of AI equipment in future.
The various embodiments of the invention and the accompanying drawings are presented for illustrative purposes and various equivalent modifications are possible in different forms without departing from the broader spirit and scope of the invention. Modifications of the embodiments of the invention which are based on the above detailed description are considered to fall within the scope of the invention. The terms used in the following claims should not be construed to be limited to the specific embodiments disclosed in the specification and the claims. Rather, what is intended to be covered is to be construed as broadly as is set forth in the claims when interpreted in accordance with the breadth to which they are fairly set forth. The specification and drawings are to be regarded in an illustrative rather than a restrictive sense.
Claims (15)
1. A robot motion control system based on closed-loop feedback realizes the motion control of a robot by adopting a closed-loop interaction mode, and is characterized by comprising:
the image data acquisition unit is used for acquiring image information data of a target object in an application scene;
the image data processing unit is used for processing the acquired image information data to obtain the position relation data between the target object and the robot;
the intelligent operation unit is used for realizing the operation on the target object by the intelligent mechanical structure device of the robot;
the control processing unit is used for analyzing and judging the data according to the position relation determined by the image data processing unit and determining to perform movement control or operation control on the robot;
the control processing unit analyzes and judges a result according to the position relation data, when the position relation does not reach a set position relation, the robot is controlled to move, the image data acquisition unit continues to acquire image information data of the target object, and the image data processing unit acquires new position relation data between the target object and the robot; the control processing unit analyzes and judges the new position relation data; the system realizes a gradual approximation movement control mode according to the position relation data fed back by the closed loop.
2. A closed-loop feedback-based robot motion control system according to claim 1, wherein the control processing unit controls the motion of the robot including the control of the speed and/or manner of movement.
3. The robot motion control system based on the closed-loop feedback as claimed in claim 2, wherein the control processing unit controls the movement of the robot, and controls to increase the moving speed of the robot when the target object is farther from the robot; and when the target object is closer to the robot, controlling to reduce the moving speed of the robot.
4. The closed-loop feedback-based robot motion control system according to claim 1, wherein the control processing unit analyzes and judges a result according to the positional relationship data, and controls the intelligent operation unit to operate the target object when a set positional relationship is reached.
5. A closed loop feedback based robot motion control system according to claim 1, wherein the image data acquisition unit is one or more 3D camera devices.
6. The closed-loop feedback-based robot motion control system of claim 5, wherein the one or more 3D camera devices have a high frame rate output mode.
7. A closed-loop feedback-based robot motion control system as claimed in claim 1, wherein the image data acquisition unit is disposed on the robot.
8. A robot motion control method based on closed-loop feedback is characterized by comprising the following steps:
an image data acquisition unit of the robot acquires image information data of a target object in an application scene;
processing the acquired image information data to acquire position relation data between the robot and the target object;
analyzing and judging the obtained position relation data, and determining to perform movement control or operation control on the robot according to the result of the analysis and judgment;
when the position relation between the robot and the target object reaches a set position relation, performing operation control on the robot to finish the operation on the target object; and when the set position relation is not reached, the robot is subjected to movement control, new position relation data between the robot and the target object are continuously acquired, and the new position relation data are analyzed and judged.
9. A method as claimed in claim 8, wherein the robot adopts a gradual approach motion control method according to the position relation data of the closed-loop feedback.
10. A method for closed-loop feedback-based robot motion control as claimed in claim 8, wherein performing motion control on the robot comprises controlling a speed and/or manner of movement.
11. The method of claim 10, wherein when the robot is controlled to move, the moving speed of the robot is increased when the target object is farther from the robot; and when the target object is closer to the robot, the moving speed of the robot is reduced.
12. A method for robot motion control based on closed-loop feedback according to claim 8, wherein the image data acquisition unit of the robot is one or more 3D camera devices, acquiring three-dimensional image data of the target object.
13. The closed-loop feedback-based robot motion control method of claim 12, wherein the one or more 3D camera devices have a high frame rate output mode.
14. A closed-loop feedback-based robot motion control method as claimed in claim 8, wherein an image data acquisition unit of the robot is provided on the robot.
15. A closed-loop feedback-based robot motion control method according to claim 8, wherein the robot comprises an intelligent operation unit for performing operation control on the target object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010152842.4A CN113352314A (en) | 2020-03-06 | 2020-03-06 | Robot motion control system and method based on closed-loop feedback |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010152842.4A CN113352314A (en) | 2020-03-06 | 2020-03-06 | Robot motion control system and method based on closed-loop feedback |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113352314A true CN113352314A (en) | 2021-09-07 |
Family
ID=77524097
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010152842.4A Pending CN113352314A (en) | 2020-03-06 | 2020-03-06 | Robot motion control system and method based on closed-loop feedback |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113352314A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116184892A (en) * | 2023-01-19 | 2023-05-30 | 盐城工学院 | AI identification control method and system for robot object taking |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160318187A1 (en) * | 2015-05-01 | 2016-11-03 | General Electric Company | Systems and methods for control of robotic manipulation |
| CN107414832A (en) * | 2017-08-08 | 2017-12-01 | 华南理工大学 | A kind of mobile mechanical arm crawl control system and method based on machine vision |
| CN107598920A (en) * | 2017-08-23 | 2018-01-19 | 深圳果力智能科技有限公司 | A kind of manipulator of view-based access control model control |
| CN107717987A (en) * | 2017-09-27 | 2018-02-23 | 西安华航唯实机器人科技有限公司 | A kind of industrial robot and its control method with vision system |
-
2020
- 2020-03-06 CN CN202010152842.4A patent/CN113352314A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160318187A1 (en) * | 2015-05-01 | 2016-11-03 | General Electric Company | Systems and methods for control of robotic manipulation |
| CN107414832A (en) * | 2017-08-08 | 2017-12-01 | 华南理工大学 | A kind of mobile mechanical arm crawl control system and method based on machine vision |
| CN107598920A (en) * | 2017-08-23 | 2018-01-19 | 深圳果力智能科技有限公司 | A kind of manipulator of view-based access control model control |
| CN107717987A (en) * | 2017-09-27 | 2018-02-23 | 西安华航唯实机器人科技有限公司 | A kind of industrial robot and its control method with vision system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116184892A (en) * | 2023-01-19 | 2023-05-30 | 盐城工学院 | AI identification control method and system for robot object taking |
| CN116184892B (en) * | 2023-01-19 | 2024-02-06 | 盐城工学院 | AI identification control method and system for robot object taking |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109397249B (en) | Method for positioning and grabbing robot system by two-dimensional code based on visual identification | |
| CN100352623C (en) | Control device and method for intelligent mobile robot capable of picking up article automatically | |
| CN107433573B (en) | Intelligent binocular automatic grabbing mechanical arm | |
| WO2018209863A1 (en) | Intelligent moving method and device, robot and storage medium | |
| CN107901041A (en) | A kind of robot vision servo control method based on image blend square | |
| CN111055281A (en) | ROS-based autonomous mobile grabbing system and method | |
| CN1611331A (en) | Movable manipulator system | |
| CN111203849A (en) | Mobile robot grabbing operation system and control method | |
| CN112775964B (en) | Force sensing impedance control method | |
| CN111015649A (en) | Driving and controlling integrated control system | |
| CN114770461B (en) | Mobile robot based on monocular vision and automatic grabbing method thereof | |
| CN112621746A (en) | PID control method with dead zone and mechanical arm visual servo grabbing system | |
| CN104827483A (en) | Method for grabbing object through mobile manipulator on basis of GPS and binocular vision positioning | |
| CN113352314A (en) | Robot motion control system and method based on closed-loop feedback | |
| Han et al. | Grasping control method of manipulator based on binocular vision combining target detection and trajectory planning | |
| CN113878578B (en) | Dynamic self-adaptive positioning method and system suitable for composite robot | |
| Zhou et al. | Visual servo control system of 2-DOF parallel robot | |
| Torkaman et al. | Real-time visual tracking of a moving object using pan and tilt platform: A Kalman filter approach | |
| CN107272725B (en) | Spherical robot motion control system with visual feedback and motion control method | |
| Taylor et al. | Hybrid position-based visual servoing with online calibration for a humanoid robot | |
| Li et al. | Study on control structure for the automated guided vehicle base on visual navigation | |
| Suda et al. | Object-impedance-based cooperative handling of object by mobile robot helper and human using visual and force information | |
| Wang et al. | Object Grabbing of Robotic Arm Based on OpenMV Module Positioning | |
| Chang et al. | Hand-eye coordination for robotic assembly tasks | |
| Linghan et al. | Dogget: A legged manipulation system in human environments |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |