11-04-2023 дата публикации
Номер: CN115946122A
Принадлежит:
The visual grabbing method based on the multi-degree-of-freedom mechanical arm comprises the steps that S1, coordinate transformation of a camera relative to the tail end of the mechanical arm is completed through hand-eye calibration; according to the recognized posture of the object, a rotation matrix is extracted and converted into an Euler angle rpy, and the tail end of the mechanical arm is rotated in combination with the solved Euler angle rpy, so that the grabbing posture of the mechanical arm is parallel to the target object; s2, a position vector is extracted, a mechanical arm is controlled, a camera is made to move to the position over the center point of the object, and complete recognition of the target object is facilitated; and S3, controlling the mechanical arm to move to the target position according to the position of secondary recognition of the target object, and completing the grabbing task of the mechanical arm. And S4, the robot accurately grabs the target object and ...
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