CN114851187B - 一种避障机械臂抓取方法、***、装置及存储介质 - Google Patents
一种避障机械臂抓取方法、***、装置及存储介质 Download PDFInfo
- Publication number
- CN114851187B CN114851187B CN202210300135.4A CN202210300135A CN114851187B CN 114851187 B CN114851187 B CN 114851187B CN 202210300135 A CN202210300135 A CN 202210300135A CN 114851187 B CN114851187 B CN 114851187B
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- mechanical
- gesture
- grabbing
- clamping jaw
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 53
- 238000003860 storage Methods 0.000 title claims abstract description 13
- 238000006243 chemical reaction Methods 0.000 claims abstract description 12
- 230000008569 process Effects 0.000 claims abstract description 5
- 230000006870 function Effects 0.000 claims description 44
- 238000004422 calculation algorithm Methods 0.000 claims description 8
- 238000005457 optimization Methods 0.000 claims description 7
- 239000012636 effector Substances 0.000 claims description 5
- 238000013519 translation Methods 0.000 claims description 5
- 230000009466 transformation Effects 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000011218 segmentation Effects 0.000 description 3
- 238000006467 substitution reaction Methods 0.000 description 3
- 238000012800 visualization Methods 0.000 description 3
- 238000003491 array Methods 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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
- B25J9/1602—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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210300135.4A CN114851187B (zh) | 2022-03-25 | 2022-03-25 | 一种避障机械臂抓取方法、***、装置及存储介质 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210300135.4A CN114851187B (zh) | 2022-03-25 | 2022-03-25 | 一种避障机械臂抓取方法、***、装置及存储介质 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN114851187A CN114851187A (zh) | 2022-08-05 |
CN114851187B true CN114851187B (zh) | 2023-07-07 |
Family
ID=82629604
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202210300135.4A Active CN114851187B (zh) | 2022-03-25 | 2022-03-25 | 一种避障机械臂抓取方法、***、装置及存储介质 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN114851187B (zh) |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107907593A (zh) * | 2017-11-22 | 2018-04-13 | 中南大学 | 一种超声检测中机械手防碰撞方法 |
CN109767495A (zh) * | 2017-11-09 | 2019-05-17 | 达索***公司 | 3d部件的增材制造 |
CN112873205A (zh) * | 2021-01-15 | 2021-06-01 | 陕西工业职业技术学院 | 基于双夹具实时切换的工业机器人无序抓取方法 |
CN113192128A (zh) * | 2021-05-21 | 2021-07-30 | 华中科技大学 | 一种结合自监督学习的机械臂抓取规划方法和*** |
CN113492402A (zh) * | 2020-04-03 | 2021-10-12 | 发那科株式会社 | 具有距离场的快速机器人运动优化 |
CN114140508A (zh) * | 2021-11-26 | 2022-03-04 | 浪潮电子信息产业股份有限公司 | 一种三维重建模型生成的方法、***、设备及可读存储介质 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2010082378A1 (ja) * | 2009-01-15 | 2010-07-22 | 三菱電機株式会社 | 衝突判定装置および衝突判定プログラム |
-
2022
- 2022-03-25 CN CN202210300135.4A patent/CN114851187B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109767495A (zh) * | 2017-11-09 | 2019-05-17 | 达索***公司 | 3d部件的增材制造 |
CN107907593A (zh) * | 2017-11-22 | 2018-04-13 | 中南大学 | 一种超声检测中机械手防碰撞方法 |
CN113492402A (zh) * | 2020-04-03 | 2021-10-12 | 发那科株式会社 | 具有距离场的快速机器人运动优化 |
CN112873205A (zh) * | 2021-01-15 | 2021-06-01 | 陕西工业职业技术学院 | 基于双夹具实时切换的工业机器人无序抓取方法 |
CN113192128A (zh) * | 2021-05-21 | 2021-07-30 | 华中科技大学 | 一种结合自监督学习的机械臂抓取规划方法和*** |
CN114140508A (zh) * | 2021-11-26 | 2022-03-04 | 浪潮电子信息产业股份有限公司 | 一种三维重建模型生成的方法、***、设备及可读存储介质 |
Non-Patent Citations (1)
Title |
---|
面向物流分拣任务的自主抓取机器人***;马灼明;朱笑笑;孙明镜;曹其新;;机械设计与研究(第06期);全文 * |
Also Published As
Publication number | Publication date |
---|---|
CN114851187A (zh) | 2022-08-05 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN109986560B (zh) | 一种面向多目标种类的机械臂自适应抓取方法 | |
CN111251295B (zh) | 一种应用于参数化零件的视觉机械臂抓取方法及装置 | |
JP5558585B2 (ja) | ワーク取り出し装置 | |
JP6036662B2 (ja) | ロボットシミュレーション装置、プログラム、記録媒体及び方法 | |
CN113409384B (zh) | 一种目标物体的位姿估计方法和***、机器人 | |
CN107138432B (zh) | 非刚性物体分拣方法和装置 | |
CN111085997A (zh) | 基于点云获取和处理的抓取训练方法及*** | |
CN110634161A (zh) | 一种基于点云数据的工件位姿快速高精度估算方法及装置 | |
CN108818530A (zh) | 基于改进rrt算法的机械臂抓取散乱堆放活塞运动规划方法 | |
Valencia et al. | A 3D vision based approach for optimal grasp of vacuum grippers | |
JP2023059828A (ja) | マシンテンディングのための把握生成 | |
Tang et al. | Learning collaborative pushing and grasping policies in dense clutter | |
CN110097599B (zh) | 一种基于部件模型表达的工件位姿估计方法 | |
CN113034600A (zh) | 基于模板匹配的无纹理平面结构工业零件识别和6d位姿估计方法 | |
CN114387513A (zh) | 机器人抓取方法、装置、电子设备及存储介质 | |
JP2022187983A (ja) | 高次元のロボット作業を学習するためのネットワークモジュール化 | |
CN114851187B (zh) | 一种避障机械臂抓取方法、***、装置及存储介质 | |
CN113538576A (zh) | 基于双臂机器人的抓取方法、装置及双臂机器人 | |
JP7373700B2 (ja) | 画像処理装置、ビンピッキングシステム、画像処理方法、画像処理プログラム、制御方法及び制御プログラム | |
CN115861780B (zh) | 一种基于yolo-ggcnn的机械臂检测抓取方法 | |
CN111462232A (zh) | 一种物体抓取方法、装置和存储介质 | |
CN116276973A (zh) | 基于深度学习的视觉感知抓取训练方法 | |
CN116000966A (zh) | 一种工件抓取方法、装置、设备和存储介质 | |
Alenya et al. | 3d object reconstruction from swissranger sensor data using a spring-mass model | |
Zhang et al. | Object detection and grabbing based on machine vision for service robot |
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 | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20240221 Address after: 510641 Industrial Building, Wushan South China University of Technology, Tianhe District, Guangzhou City, Guangdong Province Patentee after: Guangzhou South China University of Technology Asset Management Co.,Ltd. Country or region after: China Address before: 510641 No. five, 381 mountain road, Guangzhou, Guangdong, Tianhe District Patentee before: SOUTH CHINA University OF TECHNOLOGY Country or region before: China |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20240401 Address after: 518057, Building 4, 512, Software Industry Base, No. 19, 17, and 18 Haitian Road, Binhai Community, Yuehai Street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Cross dimension (Shenzhen) Intelligent Digital Technology Co.,Ltd. Country or region after: China Address before: 510641 Industrial Building, Wushan South China University of Technology, Tianhe District, Guangzhou City, Guangdong Province Patentee before: Guangzhou South China University of Technology Asset Management Co.,Ltd. Country or region before: China |
|
TR01 | Transfer of patent right |