工业机器人微小异形零件动态高精度抓取控制方法OA

The size of small irregular parts is usually in the millimeter or even micrometer range,and their shapes are complex and varied(such as curved surfaces,edges,holes,etc.),which poses great challenges to the grasping operation of robots.Based on the dynamic equation of the robotic arm and the relationship between the gripper tension and the target part size,the center of mass coordinates and grasping time of the part are determined,and the grasping point positioning is completed based on the center of mass distance of the part.With reference to the 3D grasping model of the robotic arm,the robot's grasping pose parameters are obtained;combined with the cumulative value of vectors defined by the grasping nodes,the grasping parameters are adjusted.By calculating the probability distribution of each joint condition of the robot,the target grasping behavior is completed to achieve grasping control.The experimental results show that when the proposed method is used for robot grasping control,the success rate of robot grasping is always not less than 80%under different part conveying speed conditions.