CN114523470A - Robot operation path planning method based on bearing platform linkage - Google Patents

Robot operation path planning method based on bearing platform linkage Download PDF

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Publication number
CN114523470A
CN114523470A CN202111680740.0A CN202111680740A CN114523470A CN 114523470 A CN114523470 A CN 114523470A CN 202111680740 A CN202111680740 A CN 202111680740A CN 114523470 A CN114523470 A CN 114523470A
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arm
track
robot
bucket
pose
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CN114523470B (en
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周波
陈凌霄
毛益凉
陈坚
邱阳
郑敬禄
林枫
林伟恺
周跃凯
周霞
厉鹏程
吴敏
雷一笑
陈瑶瑶
毛成林
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Zhejiang Tusheng Transmission Engineering Co ltd
Wenzhou Power Supply Co of State Grid Zhejiang Electric Power Co Ltd
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Zhejiang Tusheng Transmission Engineering Co ltd
Wenzhou Power Supply Co of State Grid Zhejiang Electric Power Co Ltd
Yijiahe Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a robot operation path planning method based on bearing platform linkage. In order to overcome the problems that the operation of the robot in the prior art needs manual operation and is inconvenient to operate; the method comprises the following steps: s1: establishing a three-dimensional space model for the working environment through laser scanning; s2: according to the position of the operation point, sequentially calculating and determining the parking pose of the insulating bucket arm vehicle, the track of the insulating bucket arm vehicle bucket arm and the operation track of the robot mechanical arm; s3: and executing operation according to the calculated track, and monitoring and feeding back the operation environment in real time until the arm of the insulated arm vehicle reaches a set position. According to the scheme, the operation point position is taken as a target, and the parking pose, the arm track and the operation track of the insulating arm vehicle are respectively calculated, so that the insulating arm vehicle can accurately obtain the target position for operation; and calculating the tracks respectively to ensure that no collision or interference occurs in the motion process of each fine track.

Description

Robot operation path planning method based on bearing platform linkage
Technical Field
The invention relates to the field of path planning, in particular to a robot operation path planning method based on bearing platform linkage.
Background
At present robot live working in-process, need operating personnel to carry out manual control on live working platform promptly insulating arm car, install work robot in the insulating fill of insulating arm car, control panel through operating personnel operation insulating arm car or through remote control, the process of fighting of moving of control insulating arm car, move operation platform to assigned position, so that the robot accomplishes live working, it is very inconvenient in the operation, need rely on operating personnel's proficiency, there is certain safety risk simultaneously, for example, the object falls aloft.
For example, in chinese patent document, "a master-slave robot working apparatus and method for high voltage live working", which is disclosed in the publication No. CN109514520A, the apparatus includes: the system comprises an unmanned aerial vehicle, an insulating bucket arm vehicle and a servo control platform; the unmanned aerial vehicle is provided with a binocular vision camera and hovers above the insulating bucket arm vehicle; and the servo control platform is in communication connection with the insulating bucket arm vehicle. Through coming to fix a position the fault point to unmanned aerial vehicle, can monitor whole operation environment.
The robot needs manual operation to complete the operation, the operation is inconvenient, and meanwhile, the risk of falling objects from high altitude exists.
Disclosure of Invention
The invention mainly solves the problems that the operation of the robot in the prior art needs manual operation and is inconvenient to operate; the robot operation path planning method based on bearing platform linkage is provided, the operation difficulty is reduced and the safety is provided by fusing the automatic control capability of the operation platform on the robot.
The technical problem of the invention is mainly solved by the following technical scheme:
the robot operation path planning method based on bearing platform linkage comprises the following steps:
s1: establishing a three-dimensional space model for the working environment through laser scanning;
s2: according to the position of the operation point, sequentially calculating and determining the parking pose of the insulating bucket arm vehicle, the track of the insulating bucket arm vehicle bucket arm and the operation track of the robot mechanical arm;
s3: and executing operation according to the calculated track, and monitoring and feeding back the operation environment in real time until the arm of the insulated arm vehicle reaches a set position.
According to the scheme, the operation point position is taken as a target, and the parking pose, the arm track and the operation track of the insulating arm vehicle are respectively calculated, so that the insulating arm vehicle can accurately obtain the target position for operation; and calculating the tracks respectively to ensure that no collision or interference occurs in the motion process of each fine track.
Preferably, the operation point position is taken as a target, and the bucket arm of the insulated bucket arm vehicle and the mechanical arm of the robot are taken as an integral multi-axis connecting piece;
traversing the pose of the multi-axis connecting piece, and recording the pose associated with the multi-axis connecting piece and the corresponding parking position of the insulating arm car when the tail end of the multi-axis connecting piece is in the operating range of the operating point position;
and collecting the recorded parking positions of the bucket arm vehicle to obtain the parking pose of the bucket arm vehicle.
The arm of the insulating bucket arm vehicle and the mechanical arm of the robot are used as a whole for calculation, the parking range and the parking direction of the insulating bucket arm vehicle are calculated, and the parking range and the parking direction of the insulating bucket arm vehicle are used for rough positioning.
Preferably, the parking pose of the insulated arm car comprises a parking coordinate and a parking direction. The parking position and the direction of the insulating bucket arm vehicle influence the motion trail of the bucket arm.
Preferably, traversing all the parking poses of the arm vehicle, and taking the moving range of the robot at the tail end of the arm as the integral execution range;
judging whether the working point position is within the integral execution range of the bucket arm vehicle when the bucket arm is in different poses under the parking pose of each bucket arm vehicle; if so, recording the current parking pose of the arm car and the current position of the arm car in a correlated manner to serve as the executing pose of the arm car; if not, judging the next position;
sequentially calculating the bucket arm track of the execution pose of the bucket arm vehicle, judging whether the distance between the bucket arm track and an environmental object in the three-dimensional space model is smaller than a safety distance threshold value or not by combining the three-dimensional space model, and if so, rejecting the bucket arm track; otherwise, the bucket arm track is contained in the insulated bucket arm vehicle bucket arm track set.
The robot is regarded as a point at the tail end of the bucket arm, the track of the bucket arm of the insulating bucket arm vehicle is calculated independently, and interference with the surrounding environment can be avoided in the bucket arm lifting process.
Preferably, traversing all the bucket arm execution poses, judging whether the bucket arm execution poses contain at least one bucket arm track, and if so, keeping the bucket arm execution poses and the bucket arm tracks; if not, the execution pose of the bucket arm is rejected. At least one track path of the executing pose of the arm can be obtained.
Preferably, traversing all the bucket arm execution poses, and calculating the operation tracks of the robot mechanical arm under different bucket arm execution poses;
judging whether the tail end of the robot mechanical arm is in the operation range of the working point position, if so, entering the next judgment, and otherwise, rejecting the operation track of the robot mechanical arm;
judging whether the distance between the operation track of the robot mechanical arm and an environment object in the three-dimensional space model is smaller than a safety distance threshold value or not by combining the three-dimensional space model, and if so, rejecting the operation track of the robot mechanical arm; otherwise, the operation track of the robot mechanical arm is incorporated into the operation track set of the robot mechanical arm.
After the parking pose of the bucket arm vehicle and the execution pose of the bucket arm are determined, the operation track of the robot mechanical arm in the corresponding pose is calculated, and the operation track of the robot mechanical arm is ensured not to interfere with the environment.
Preferably, any one track in the robot mechanical arm operation track set is selected as an execution track, and the corresponding and associated arm execution pose, arm track and insulating arm car parking pose are selected as final operation tracks.
And sequentially correlating and determining the working track according to the effective mechanical arm operation track, and determining a path from the target.
Preferably, working according to the final working track;
monitoring the feedback operation environment in real time and comparing with the three-dimensional space model;
and when the real-time monitoring data and the three-dimensional space model have deviation, calculating the distance between the real-time monitoring data and the final operation track, giving an alarm if the distance is smaller than a safe distance threshold value, and otherwise, continuously detecting and feeding back the operation environment until the bucket arm of the insulated bucket arm vehicle reaches a set position.
And adjusting according to the real-time monitoring data to ensure that the actual running track does not collide with objects in the environment. Avoid the sudden change of the surrounding environment (such as the intrusion of animals) to influence the operation.
The invention has the beneficial effects that:
1. the operation point position is used as a target, and the parking pose, the bucket arm track and the operation track of the insulating bucket arm vehicle are respectively calculated, so that the insulating bucket arm vehicle can accurately obtain the target position for operation.
2. And calculating the tracks respectively to ensure that no collision or interference occurs in the motion process of each fine track.
3. And adjusting according to the real-time monitoring data to ensure that the actual running track does not collide with objects in the environment. Avoid the sudden change of the surrounding environment to influence the operation.
Drawings
FIG. 1 is a flow chart of a method for planning a robot working path based on linkage of a bearing platform according to the present invention.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
Example (b):
the method for planning the operation path of the robot based on the linkage of the bearing platform in the embodiment is shown in fig. 1 and comprises the following steps: s1: and establishing a three-dimensional space model for the working environment through laser scanning.
A three-dimensional space model in a general case is built by laser radar scanning. The three-dimensional space model comprises a working environment and equipment possibly used as an operation object. And determining the poses of the insulating bucket arm vehicle and the robot by establishing a three-dimensional coordinate system for the three-dimensional space model.
S2: and according to the position of the operation point, sequentially calculating and determining the parking pose of the insulating bucket arm vehicle, the track of the insulating bucket arm vehicle and the operation track of the robot mechanical arm.
The parking pose of the insulating bucket arm vehicle comprises a parking coordinate and a parking direction. The process for determining the parking pose of the insulating arm vehicle comprises the following steps:
a1: the bucket arm of the insulated bucket arm vehicle and the mechanical arm of the robot are used as an integral multi-axis connecting piece by taking the operation point position as a target.
In the embodiment, the arm of the insulated arm car is a three-axis mechanical arm, and a robot is arranged in the insulated bucket at the tail end of the arm car; the robot is a six-axis mechanical arm. Therefore, in the present embodiment, the multi-axis connection member of the insulation boom truck is a nine-axis connection member.
A2: traversing the pose of the multi-axis connecting piece, and recording the pose of the multi-axis connecting piece and the corresponding parking position of the insulating boom truck when the tail end of the multi-axis connecting piece is in the operating range of the operating point position.
The pose of the multi-axis connecting piece is determined by the coordinates of the end points of each axis; the parking position of the insulating bucket arm vehicle is determined by the coordinates of the midpoint of the vehicle head and the midpoint of the vehicle tail, and the parking position range and the parking direction are determined.
A3: and collecting the recorded parking positions of the bucket arm vehicle to obtain the parking pose of the bucket arm vehicle.
The arm of the insulating bucket arm vehicle and the mechanical arm of the robot are used as a whole for calculation, the parking range and the parking direction of the insulating bucket arm vehicle are calculated, and the parking range and the parking direction of the insulating bucket arm vehicle are used for rough positioning.
And further determining the bucket arm execution pose and the corresponding track of the insulated bucket arm vehicle according to the calculated bucket arm vehicle parking pose. The calculation process is as follows:
b1: and traversing all the parking poses of the bucket arm vehicle, and taking the moving range of the robot at the tail end of the bucket arm as the integral execution range.
Regarding the robot as a point at the tail end of the bucket arm, independently calculating the track of the bucket arm of the insulating bucket arm vehicle, and ensuring that the interference with the surrounding environment can not occur in the process of lifting the bucket arm.
B2: and judging whether the working point position is within the integral execution range of the bucket arm vehicle when the bucket arm is in different poses under the parking pose of each bucket arm vehicle. And traversing different bucket arm poses under the same determined bucket arm vehicle parking pose to judge the position of the working point.
If the working point position is within the integral execution range of the arm car, the parking pose of the arm car and the position of the arm car arm at the moment are recorded in a correlated mode to serve as the execution pose of the arm car;
and if the working point position is not within the integral execution range of the arm truck, judging the pose of the next arm until the poses of all the arms are judged, and returning to the step B1.
B3: sequentially calculating the bucket arm track of the execution pose of the bucket arm vehicle, judging whether the distance between the bucket arm track and an environmental object in the three-dimensional space model is smaller than a safety distance threshold value or not by combining the three-dimensional space model, and if so, rejecting the bucket arm track; otherwise, the bucket arm track is contained in the insulated bucket arm vehicle bucket arm track set.
The interference with the surrounding environment can not occur in the process of lifting the bucket arm.
B4: traversing all the bucket arm execution poses, judging whether the bucket arm execution poses contain at least one bucket arm track, and if so, keeping the bucket arm execution poses and the bucket arm tracks; if not, the execution pose of the bucket arm is rejected.
At least one track path of the execution pose of the arm can be obtained.
And further calculating the operation track of the mechanical arm of the robot after determining the parking pose of the insulating bucket arm vehicle, the corresponding execution pose of the bucket arm and the corresponding track of the bucket arm. The calculation process of the operation track of the mechanical arm comprises the following steps:
c1: and traversing all the bucket arm execution poses, and calculating the operation tracks of the robot mechanical arm under different bucket arm execution poses.
C2: and judging whether the tail end of the robot mechanical arm is in the operation range of the working point position, if so, entering the next judgment, and otherwise, rejecting the operation track of the robot mechanical arm.
C3: judging whether the distance between the operation track of the robot mechanical arm and an environment object in the three-dimensional space model is smaller than a safety distance threshold value or not by combining the three-dimensional space model, and if so, rejecting the operation track of the robot mechanical arm; otherwise, the operation track of the robot mechanical arm is incorporated into the operation track set of the robot mechanical arm.
After the parking pose of the bucket arm vehicle and the execution pose of the bucket arm are determined, the operation track of the robot mechanical arm in the corresponding pose is calculated, and the operation track of the robot mechanical arm is ensured not to interfere with the environment.
In this embodiment, the trajectory computation problem is modeled by using operators in the kinematics and Dynamics library kdl (kinematics and Dynamics library) and solved for inverse kinematics.
Driving the tail end position to move D within a set time length t; the object of the n-axis is represented as:
D＝(D1，D2，...，Dn)
according to the actual working condition of the object and the respective kinematic state of the n-axis object, establishing a motion speed equation of each axis object:
Figure BDA0003448172460000051
wherein the content of the first and second substances,
Figure BDA0003448172460000052
respectively representing the angular velocity of the ith axis object around the x axis, the y axis and the z axis;
Figure BDA0003448172460000053
respectively representing linear speeds of an i-axis object in the directions of an x axis, a y axis and a z axis;
Siindicating the changing state of the i-th axis object.
The moving distance Delta D of the ith axis object in the time Delta tiExpressed as:
ΔDi＝ΔSi·Δt
according to SiThe derivation obtains the acceleration of the object as:
Figure BDA0003448172460000054
in summary, a within Δ t timeiChange scale ofShown as follows:
Figure BDA0003448172460000055
in the practical application process, the motor can provide driving force to enable the bucket arm to reach the final target position, and the magnitude of the driving force of the motor is strictly and positively correlated with the speed. In addition, the connection points between the different shafts generate different friction forces, and the friction force is generated according to the time and the angle for driving the arm to move, namely
Figure BDA0003448172460000056
Figure BDA0003448172460000061
Figure BDA0003448172460000062
Figure BDA0003448172460000063
Wherein the content of the first and second substances,
Figure BDA0003448172460000064
and
Figure BDA0003448172460000065
the force of the ith axis arm on the x-axis direction, the y-axis direction and the z-axis direction is respectively expressed;
Figure BDA0003448172460000066
and
Figure BDA0003448172460000067
respectively showing the time t of the i-th axis arm received in the x-axis, y-axis and z-axis directionsThe force magnitude comprises the force magnitude at the last moment and the fixed friction force;
Figure BDA0003448172460000068
and
Figure BDA0003448172460000069
and the fixed friction coefficients of the ith axis arm in the directions of the x axis, the y axis and the z axis are respectively expressed.
According to the Newton's dynamic formula, the mass is MiThe ith axis arm of (a) may be rewritten as:
Mi·Si＝Fi·t
based on the above discussion, acceleration can be derived while taking the derivative for the rate of change of speed. Finally, the following can be obtained:
Figure BDA00034481724600000610
after integration, the moving distance D of the n-axis bucket arm required in unit time can be obtainedi。
S3: and executing operation according to the calculated track, and monitoring and feeding back the operation environment in real time until the arm of the insulated arm vehicle reaches a set position.
And randomly selecting any track in the robot mechanical arm operation track set as an execution track, and selecting a corresponding and associated bucket arm execution pose, a bucket arm track and an insulation bucket arm vehicle parking pose as final operation tracks.
Working according to the final working track;
monitoring the feedback operation environment in real time and comparing with the three-dimensional space model;
and when the real-time monitoring data and the three-dimensional space model have deviation, calculating the distance between the real-time monitoring data and the final operation track, if the distance is smaller than a safe distance threshold value, giving an alarm, otherwise, continuously detecting and feeding back the operation environment until the bucket arm of the insulated bucket arm vehicle reaches a set position.
And adjusting according to the real-time monitoring data to ensure that the actual running track does not collide with objects in the environment. Avoid the sudden change of the surrounding environment (such as the intrusion of animals) to influence the operation.
According to the scheme, the operation point position is taken as a target, and the parking pose, the arm track and the operation track of the insulating arm vehicle are respectively calculated, so that the insulating arm vehicle can accurately obtain the target position for operation; and calculating the tracks respectively to ensure that no collision or interference occurs in the motion process of each fine track.
It should be understood that the examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.

Claims (8)

1. The robot operation path planning method based on bearing platform linkage is characterized by comprising the following steps:
s1: establishing a three-dimensional space model for the working environment through laser scanning;
s2: according to the position of the operation point, sequentially calculating and determining the parking pose of the insulating bucket arm vehicle, the track of the insulating bucket arm vehicle bucket arm and the operation track of the robot mechanical arm;
s3: and executing operation according to the calculated track, and monitoring and feeding back the operation environment in real time until the arm of the insulated arm vehicle reaches a set position.
2. The method for planning the working path of the robot based on the linkage of the bearing platform according to claim 1, wherein a boom of the insulated boom car and a mechanical arm of the robot are used as an integral multi-axis connector with a working point as a target;
traversing the pose of the multi-axis connecting piece, and recording the pose associated with the multi-axis connecting piece and the corresponding parking position of the insulating arm car when the tail end of the multi-axis connecting piece is in the operating range of the operating point position;
and collecting the recorded parking positions of the bucket arm vehicle to obtain the parking pose of the bucket arm vehicle.
3. The load-bearing platform linkage-based robot working path planning method according to claim 1 or 2, wherein the insulating arm car parking pose comprises a parking coordinate and a parking direction.
4. The method for planning the working path of the robot based on the linkage of the bearing platform according to claim 3, wherein the parking poses of all the arm cars are traversed, and the moving range of the robot at the tail end of the arm is taken as the integral execution range;
judging whether the working point position is within the integral execution range of the bucket arm vehicle when the bucket arm is in different poses under the parking pose of each bucket arm vehicle; if so, recording the current parking pose of the arm car and the current position of the arm car in a correlated manner to serve as the executing pose of the arm car; if not, judging the next position;
sequentially calculating the bucket arm track of the execution pose of the bucket arm vehicle, judging whether the distance between the bucket arm track and an environmental object in the three-dimensional space model is smaller than a safety distance threshold value or not by combining the three-dimensional space model, and if so, rejecting the bucket arm track; otherwise, the bucket arm track is contained in the insulated bucket arm vehicle bucket arm track set.
5. The method for planning the operation path of the robot based on the linkage of the bearing platform according to claim 4, wherein all the execution poses of the arm are traversed, whether the execution poses of the arm contain at least one arm track is judged, and if yes, the execution poses of the arm and the arm track are reserved; if not, the execution pose of the bucket arm is rejected.
6. The method for planning the operation path of the robot based on the linkage of the bearing platform as claimed in claim 4 or 5, wherein the operation tracks of the robot mechanical arm under different execution poses of the arm are calculated by traversing all the execution poses of the arm;
judging whether the tail end of the robot mechanical arm is in the operation range of the working point position, if so, entering the next judgment, and otherwise, rejecting the operation track of the robot mechanical arm;
judging whether the distance between the operation track of the robot mechanical arm and an environment object in the three-dimensional space model is smaller than a safety distance threshold value or not by combining the three-dimensional space model, and if so, rejecting the operation track of the robot mechanical arm; otherwise, the operation track of the robot mechanical arm is incorporated into the operation track set of the robot mechanical arm.
7. The method for planning the working path of the robot based on the linkage of the bearing platform according to claim 6, wherein any one of the operation tracks of the robot mechanical arm is arbitrarily selected as an execution track, and the corresponding and associated execution pose of the arm, the track of the arm and the parking pose of the insulated arm car are selected as final working tracks.
8. The method for planning a working path of a robot based on linkage of a carrying platform as claimed in claim 7, wherein the robot works according to a final working track;
monitoring the feedback operation environment in real time and comparing with the three-dimensional space model;
and when the real-time monitoring data and the three-dimensional space model have deviation, calculating the distance between the real-time monitoring data and the final operation track, giving an alarm if the distance is smaller than a safe distance threshold value, and otherwise, continuously detecting and feeding back the operation environment until the bucket arm of the insulated bucket arm vehicle reaches a set position.
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JPS6330908A (en) * 1986-07-25 1988-02-09 Rikagaku Kenkyusho Arm orbit planning method for robot and wave front propagating device
CN108466265A (en) * 2018-03-12 2018-08-31 珠海市俊凯机械科技有限公司 Mechanical arm path planning and operational method, device and computer equipment
CN110815213A (en) * 2019-10-21 2020-02-21 华中科技大学 Part identification and assembly method and device based on multi-dimensional feature fusion
CN111923011A (en) * 2020-09-18 2020-11-13 国网瑞嘉(天津)智能机器人有限公司 Live working execution method and device and live working system
CN112115929A (en) * 2020-11-23 2020-12-22 国网瑞嘉(天津)智能机器人有限公司 Method and device for determining moving pose of operation arm support and storage medium
CN112171673A (en) * 2020-09-24 2021-01-05 哈尔滨工业大学（深圳） Robot arm operation control method, control apparatus, and computer-readable storage medium
CN113232019A (en) * 2021-05-13 2021-08-10 中国联合网络通信集团有限公司 Mechanical arm control method and device, electronic equipment and storage medium
CN113799128A (en) * 2021-09-16 2021-12-17 北京航天飞行控制中心 Mechanical arm motion track display method and device and electronic equipment

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6330908A (en) * 1986-07-25 1988-02-09 Rikagaku Kenkyusho Arm orbit planning method for robot and wave front propagating device
CN108466265A (en) * 2018-03-12 2018-08-31 珠海市俊凯机械科技有限公司 Mechanical arm path planning and operational method, device and computer equipment
CN110815213A (en) * 2019-10-21 2020-02-21 华中科技大学 Part identification and assembly method and device based on multi-dimensional feature fusion
CN111923011A (en) * 2020-09-18 2020-11-13 国网瑞嘉(天津)智能机器人有限公司 Live working execution method and device and live working system
CN112171673A (en) * 2020-09-24 2021-01-05 哈尔滨工业大学（深圳） Robot arm operation control method, control apparatus, and computer-readable storage medium
CN112115929A (en) * 2020-11-23 2020-12-22 国网瑞嘉(天津)智能机器人有限公司 Method and device for determining moving pose of operation arm support and storage medium
CN113232019A (en) * 2021-05-13 2021-08-10 中国联合网络通信集团有限公司 Mechanical arm control method and device, electronic equipment and storage medium
CN113799128A (en) * 2021-09-16 2021-12-17 北京航天飞行控制中心 Mechanical arm motion track display method and device and electronic equipment

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