Method, device and equipment for grabbing parts through mechanical arm and storage medium

• Main Authors: YAO WENFENG, HUANG LI, WANG YUQING, HUANG JIAMING, GUO XIYI, ZHANG FAN, HAN JINGKUI, LIN DONGTIAN, XU BOYU, ZHANG JINSU, GUO GUOQIANG, QIU SHULI, RAO YUPING, LIU YONGXING
• Format: Patent
• Language: Chinese; English
• Published: 09.01.2024
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention discloses a part grabbing method, device and equipment of a mechanical arm and a storage medium. The method comprises the steps that part image information corresponding to a to-be-grabbed part is obtained based on camera equipment installed in the center of a gripper at the tail end of multi-axis mechanical arm equipment; based on the device postures of the multi-axis mechanical arm device, a target rotation translation matrix is determined according to the part image information, a mechanical arm coordinate system and a camera coordinate system, and the device postures comprise the initial posture and other postures; and according to the target rotation translation matrix, the multi-axis mechanical arm equipment is controlled to grab the to-be-grabbed part, a mechanical arm coordinate system and a camera coordinate system can be combined, the multi-axis mechanical arm is controlled through a visual image, then the automation degree of the multi-axis mechanical arm is improved, and the use expe