基于激光测距技术的加料机械臂目标定位抓取方法

Target positioning and grasping method of feeding manipulator based on laser ranging technology

加料机械臂目标坐标位置动态变化,导致在目标定位抓取时存在定位精度差、抓取时间长以及抓取效果差的问题,为此提出基于激光测距技术的加料机械臂目标定位抓取方法。该方法首先依据激光测距技术获取目标坐标位置,完成目标标定;通过提取的目标抓取特征获取目标的抓取点;依据获取结果建立MGP模型,通过模型的训练获取加料机械臂位姿至关节角的映射函数以及目标函数;最后通过相关函数的计算结果实现目标的定位,完成加料机械臂的目标抓取。实验结果表明,在检测次数为90时,该方法的定位距离误差为0.2 mm,在300次检测时的综合角度误差为2.0度,在250次检测时的抓取时间为120 s。

The dynamic change of the target coordinate position of the feeding manipulator leads to the problems of poor positioning accuracy, long grasping time and poor grasping effect during target positioning and grasping. Therefore, a target positioning and grasping method of the feeding robot arm based on laser ranging technology is proposed.Firstly,the method the target coordinate position is obtained according to the laser ranging technology, and the target calibration is completed. Obtains the target grasping point through by extracting the target grasping features;establishes and establishes an MGP model according to the obtained results, and obtains the feeding manipulator through the training of the model. The mapping function of the joint angle and the objective function. Finally, the target positioning is realized through the calculation result of the correlation function, and the target grasping of the feeding manipulator is completed. The experimental results show that the positioning distance error of this method is 0. 2 mm when the number of detections is 90, the comprehensive angle error is 2. 0 degrees at 300 detections, and the grasping time is 120 s at 250 detections.