CN115229803A - 基于视觉识别的集成化机械臂末端执行件及其操控方法 - Google Patents
基于视觉识别的集成化机械臂末端执行件及其操控方法 Download PDFInfo
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- CN115229803A CN115229803A CN202211134145.1A CN202211134145A CN115229803A CN 115229803 A CN115229803 A CN 115229803A CN 202211134145 A CN202211134145 A CN 202211134145A CN 115229803 A CN115229803 A CN 115229803A
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- mechanical arm
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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
- B25J9/1694—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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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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
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
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CN202211134145.1A CN115229803B (zh) | 2022-09-19 | 2022-09-19 | 基于视觉识别的集成化机械臂末端执行件及其操控方法 |
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CN202211134145.1A CN115229803B (zh) | 2022-09-19 | 2022-09-19 | 基于视觉识别的集成化机械臂末端执行件及其操控方法 |
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CN115229803A true CN115229803A (zh) | 2022-10-25 |
CN115229803B CN115229803B (zh) | 2023-02-28 |
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Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1063317A (ja) * | 1996-08-13 | 1998-03-06 | Fanuc Ltd | ロボット−視覚センサシステムにおける座標系結合方法 |
CN107767423A (zh) * | 2017-10-10 | 2018-03-06 | 大连理工大学 | 一种基于双目视觉的机械臂目标定位抓取方法 |
CN110523909A (zh) * | 2019-07-10 | 2019-12-03 | 南京航空航天大学 | 一种基于机器人视觉的自动送钉系统及方法 |
CN110936361A (zh) * | 2019-12-16 | 2020-03-31 | 中国科学院沈阳自动化研究所 | 一种用于高压室巡检的协作型移动操作机器人机构 |
CN111723734A (zh) * | 2020-06-19 | 2020-09-29 | 哈尔滨理工大学 | 一种基于机器视觉的孔位识别方法 |
CN114012694A (zh) * | 2021-11-19 | 2022-02-08 | 国网上海市电力公司 | 一种可自动运维作业的无轨智能机器人及其控制方法 |
CN114474001A (zh) * | 2022-01-27 | 2022-05-13 | 华能(广东)能源开发有限公司海门电厂 | 一种机器人系统和控制方法 |
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- 2022-09-19 CN CN202211134145.1A patent/CN115229803B/zh active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1063317A (ja) * | 1996-08-13 | 1998-03-06 | Fanuc Ltd | ロボット−視覚センサシステムにおける座標系結合方法 |
CN107767423A (zh) * | 2017-10-10 | 2018-03-06 | 大连理工大学 | 一种基于双目视觉的机械臂目标定位抓取方法 |
CN110523909A (zh) * | 2019-07-10 | 2019-12-03 | 南京航空航天大学 | 一种基于机器人视觉的自动送钉系统及方法 |
CN110936361A (zh) * | 2019-12-16 | 2020-03-31 | 中国科学院沈阳自动化研究所 | 一种用于高压室巡检的协作型移动操作机器人机构 |
CN111723734A (zh) * | 2020-06-19 | 2020-09-29 | 哈尔滨理工大学 | 一种基于机器视觉的孔位识别方法 |
CN114012694A (zh) * | 2021-11-19 | 2022-02-08 | 国网上海市电力公司 | 一种可自动运维作业的无轨智能机器人及其控制方法 |
CN114474001A (zh) * | 2022-01-27 | 2022-05-13 | 华能(广东)能源开发有限公司海门电厂 | 一种机器人系统和控制方法 |
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Inventor after: Zhang Jiming Inventor after: Shi Mingjun Inventor after: Zhang Kebo Inventor after: Lin Wenyu Inventor after: Wang Chao Inventor after: Shen Keju Inventor after: Luo Lihua Inventor after: Huang Jianping Inventor after: Chen Hao Inventor after: Li Zhongxiu Inventor after: Pan Jiefeng Inventor after: Qiu Jianbin Inventor after: Yang Yueping Inventor after: Ding Yang Inventor after: Yu Leyu Inventor after: Xu Xianquan Inventor after: Xu Dingkang Inventor after: Xu Jing Inventor after: Zhang Huifang Inventor after: Cai Weiwei Inventor before: Zhang Jiming Inventor before: Shi Mingjun Inventor before: Zhang Kebo Inventor before: Lin Wenyu Inventor before: Wang Chao Inventor before: Shen Keju Inventor before: Luo Lihua Inventor before: Huang Jianping Inventor before: Chen Hao Inventor before: Li Zhongxiu Inventor before: Pan Jiefeng Inventor before: Qiu Jianbin Inventor before: Yang Yueping Inventor before: Xu Xianquan Inventor before: Yu Leyu Inventor before: Xu Dingkang Inventor before: Xu Jing Inventor before: Ding Yang Inventor before: Zhang Huifang Inventor before: Cai Weiwei |
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