Mechanical arm positioning method and device, electronic equipment and storage medium

The invention discloses a mechanical arm positioning method and device, electronic equipment and a storage medium. According to the method, a mechanical arm, a camera, a tail end clamp, a mechanical arm base and an acceleration sensor are included; a shot image of the camera and a detection result o...

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Bibliographic Details
Main Authors FU WEI, CAO YUNAN, SUN KAI
Format Patent
LanguageChinese
English
Published 19.07.2024
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:The invention discloses a mechanical arm positioning method and device, electronic equipment and a storage medium. According to the method, a mechanical arm, a camera, a tail end clamp, a mechanical arm base and an acceleration sensor are included; a shot image of the camera and a detection result of the acceleration sensor are obtained; determining a first rotation matrix according to a shot image of the camera; according to a predetermined second rotation matrix and a predetermined third rotation matrix, converting the first rotation matrix to obtain a fourth rotation matrix; according to a detection result of the acceleration sensor and a gravity projection relation between the fourth rotation matrixes, adjusting at least one Euler angle in the fourth rotation matrixes to generate a target fourth rotation matrix; determining an adjusted first rotation matrix according to the target fourth rotation matrix, the second rotation matrix and the third rotation matrix; and according to the adjusted first rotation
Bibliography:Application Number: CN202410796864