CN108818586B - A method for detecting the center of gravity of objects suitable for automatic grasping by manipulators - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention discloses an object gravity center detection method suitable for automatic grabbing by a manipulator, which comprises the following steps: step 1, acquiring relevant parameters required by detecting the position of the gravity center of an object in advance; and 2, performing two grabbing operations on the grabbed object, and respectively calculating to obtain four possible gravity coordinate values of the grabbed object by combining the related parameters acquired in advance: and 3, calculating the four possible barycentric coordinate values, and determining a unique barycentric coordinate from the four possible barycentric coordinate values. According to the method for calculating the gravity center of the object, the manipulator is used for grabbing the object twice, the gravity center position of the object can be simply and effectively detected, the method is not influenced by the shape and the mass distribution of the object, the implementation structure is simple, the number of required sensors is small, and the method has a great practical value in household service robots and industrial robots.
Description
Technical Field
The invention discloses a method for detecting the gravity center of an object, and particularly relates to a method for detecting the gravity center of the object, which is suitable for automatic grabbing by a manipulator.
Background
For home service robots and industrial robots, a large number of tasks are encountered for gripping objects. When the robot grabs the object, it is crucial to determine the center of gravity of the object, for example, if the grip point is on the plumb line passing through the center of gravity of the object, the object will not rotate in the process of being lifted, if the grip point is not on the plumb line passing through the center of gravity of the object, gravity generates torque to the grip point, which causes the object to rotate when being lifted, so that the grip operation is unstable, and an accident causes a failure in grabbing. Therefore, if the position of the center of gravity of the object is determined before the robot grips the object, the success rate of gripping can be greatly improved.
The center of gravity of an object is an internal parameter of the object, and the position of the center of gravity is closely related to the three-dimensional shape, material density, mass distribution uniformity and the like of the object, so that it is difficult to determine the position of the center of gravity of an object. Currently, in the technical field, there are few related methods for detecting the center of gravity of an object, and the methods mainly focus on measuring the center of gravity of the object by building a center of gravity detection platform and using a large number of sensors, and the methods have high requirements on configuration of equipment and are complex to use, such as patents shown in grant publication numbers CN 103091042B and CN 104142209B. And none of these methods is suitable for the application field of robot automatic gripping.
Disclosure of Invention
The invention aims to solve the technical problem of providing an object gravity center detection method suitable for automatic grabbing by a manipulator. In each gripping action, the two fingers grip the object with the same force to lift the object off the support surface.
The technical scheme adopted by the invention is as follows:
an object gravity center detection method suitable for automatic grabbing by a manipulator comprises the following steps:
and 2, performing two grabbing operations on the grabbed object, and respectively calculating to obtain four possible gravity coordinate values of the grabbed object by combining the related parameters acquired in advance:
C1＝(x1，y1)，C2＝(x2，y2)，C3＝(x3，y3)，C4＝(x4，y4)；
and 3, calculating the four possible barycentric coordinate values, and determining a unique barycentric coordinate from the four possible barycentric coordinate values.
Further, in step 1, the parameters obtained in advance include gravity G of the object, gripping force F of the manipulator on the object, friction coefficient μ between the mechanical finger and the gripped object, radius R of a contact surface between the circular finger of the manipulator and the gripped object, and rotation angle θ of the object during two gripping operations1，θ2And in two grabbing operations of the object, after the object completely leaves the supporting surface, obtaining the intersection point coordinate (0, a) of the plumb line passing through the grabbing point and the Y coordinate axis1) And (0, a)2)。
The specific acquisition method comprises the following steps:
acquiring the gravity G of an object and the grabbing force F of the manipulator to the object through a force sensor on the manipulator;
obtaining the friction coefficient mu between the mechanical finger and the grabbed object through related database query;
measuring by a vernier caliper to obtain the radius R of the contact surface of the circular finger of the manipulator and the grabbed object;
the rotation angle theta of the object in two grabbing operations of the object is obtained through the omnibearing slip sensor fixed on the finger of the manipulator1，θ2；
In two grabbing operations of the object, after the object completely leaves the supporting surface, the equations of the plumb lines passing through the grabbing points are respectively as follows:
l1：y＝tanθ1·x+a1
l2：y＝tanθ2·x+a2 (1)
the plumb line l can be obtained according to the formula (1)1，l2Coordinates of intersection points with the Y coordinate axes (0, a), respectively1) And (0, a)2)。
Further, in step 2, a calculation formula for calculating four possible barycentric coordinate values of the grasped object is as follows:
wherein u is 1, 2, 3, 4; four possible barycentric coordinate values of the grasped object can be respectively calculated by the formula: c1＝(x1，y1)，C2＝(x2，y2)，C3＝(x3，y3)，C4＝(x4，y4)。
Further, the process of determining the unique barycentric coordinates in step 3 is as follows:
step 3-1, setting an initial value of u, namely, u is 1;
step 3-2 will (x)u，yu) Into the formula M (u) ═ yu-xu·tanθ1-a1；
Step 3-3 to determine M (u) and theta1Whether the signs are the same or not, if so, turning to the step 3-4; if not, setting u to u + 1; switching to the step 3-2 for judgment;
step 3-4 will (x)u，yu) Substituting into the formula n (u) ═ yu-xu·tanθ2-a2；
Step 3-5, judging M (u) and theta2Whether the signs are the same or not, if so, outputting the gravity center position (x)u，yu) And ending; if not, setting u to u + 1; and the judgment is carried out from the step 3-2.
The detection method uses the following principle:
the friction torque of the contact surface of the manipulator and the object is balanced with the moment of gravity on the clamping point. When the position of the manipulator clamping the object is not on the vertical line passing through the gravity center of the object, the object can rotate in the lifting process, and friction force is generated between the contact surfaces of the manipulator and the object to form friction torque. Gravity creates a moment on the gripping point since the line of action of gravity is not beyond the gripping point of the robot on the object. The torque is balanced with the friction torque.
According to the method for calculating the gravity center of the object, the manipulator is used for grabbing the object twice, the gravity center position of the object can be simply and effectively detected, the method is not influenced by the shape and the mass distribution of the object, the implementation structure is simple, the number of required sensors is small, and the method has a great practical value in household service robots and industrial robots.
The invention has the advantages of
1. The invention solves the problem that the gravity center is difficult to detect in the actual grabbing operation of the robot, and the gravity and the friction coefficient of the object are known, so that the position of the gravity center of the object can be obtained only by grabbing twice.
2. The invention simplifies the measuring equipment, uses a mechanical arm capable of controlling the clamping force, uses an omnibearing slip sensor, and can obtain the position of the gravity center of the object by knowing the gravity of the object and the friction coefficient between the object and the mechanical arm.
3. The invention has great practical value in household service robots and industrial robots.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic view of a two-finger manipulator
FIG. 2 is a schematic view of a robot gripping an object
FIG. 3 is a schematic view of an object being lifted off a support surface by a robot
FIG. 4 is a diagram illustrating calculation of friction torque
FIG. 5 is a view for explaining calculation of the center of gravity
In the figure: 01 two fingers manipulator, 02 all-round slippery sensation sensor.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
as described in the background art, currently, in this technical field, there is little related to a method for detecting the center of gravity of an object, and mainly focuses on measuring the center of gravity of the object by constructing a center of gravity detection platform and using a large number of sensors, and the method has high requirements on the configuration of equipment and is complicated to use, such as patents shown in publication nos. CN 103091042B and CN 104142209B. And none of these methods is suitable for the application field of robot automatic gripping.
In order to solve the technical problems, the application provides an object gravity center detection method suitable for automatic grabbing by a manipulator, and the method is used for detecting and obtaining the gravity center position of an object by knowing the weight of the object and the friction coefficient between the object and the manipulator through two clamping actions. In each gripping action, the two fingers grip the object with the same force to lift the object off the support surface.
In an exemplary embodiment of the present application, an object gravity center detection method suitable for automatic grabbing by a robot includes the following steps:
and 2, performing two grabbing operations on the grabbed object, and respectively calculating to obtain four possible gravity coordinate values of the grabbed object by combining the related parameters acquired in advance:
C1＝(x1，y1)，C2＝(x2，y2)，C3＝(x3，y3)，C4＝(x4，y4)；
and 3, calculating the four possible barycentric coordinate values, and determining a unique barycentric coordinate from the four possible barycentric coordinate values.
The specific acquisition mode of the parameters is as follows:
fig. 1 shows a two-finger manipulator model, which obtains the gravity G of an object and the grasping force F of the manipulator on the object through a force sensor on a two-finger manipulator 01;
because the surface material of the object grabbed by the manipulator is limited, the friction coefficient mu between the mechanical finger and the grabbed object can be obtained through query of a related database;
taking a circular contact surface of the manipulator and the object as an example, measuring by using a vernier caliper to obtain the radius R of the contact surface of a circular finger of the manipulator and the grasped object;
the rotation angle theta of the object in two grabbing operations of the object is obtained by the omnibearing slip sensor 02 fixed on the finger of the manipulator1，θ2(ii) a In two grabbing operations of the object, after the object completely leaves the supporting surface, the equations of the plumb lines passing through the grabbing points are respectively as follows:
l1：y＝tanθ1·x+a1
l2：y＝tanθ2·x+a2 (1)
the plumb line l can be obtained according to the above formula (1)1，l2Coordinates of intersection points with the Y coordinate axes (0, a), respectively1) And (0, a)2)。
In the above detection method, the contact surface between the manipulator and the object is circular, which is only for convenience of description, but the present invention is not limited to the circular contact plane.
Furthermore, in the detection method, each time the manipulator grabs the same object, and after the object is lifted away from the supporting surface, the grabbing force F for grabbing is kept the same, so that the distance from the center of gravity to the plumb line passing through the clamping point is the same.
Further, in the detection method, a series of matrix operations are used for selecting the real barycentric position coordinate from the four possible barycentric position coordinates.
A schematic diagram of a gripping action of the robot on the object is shown in fig. 2, in which the whole gripping state is projected on the XOY plane, and the Z-axis is perpendicular to the paper surface. In the coordinate system shown in fig. 2, the coordinates of the two fingers of the two-finger robot are the same in the X axis and the Y axis, and are different in the Z axis.
The detection principle is that the friction torque of the contact surface of the manipulator and the object is balanced with the moment of gravity to the clamping point. The moment from the gravity to the clamping point mainly depends on the gravity of the object and the moment arm from the gravity to the clamping point. The influence of the position change of the gravity center on the Z axis on the arm of force from gravity to the clamping point is very small and can be ignored, so that the position of the gravity center is represented by a projection C point of the gravity center on an XOY plane.
Since the gripping position of the manipulator is not on the vertical line passing through the center of gravity, the rotation as shown in fig. 3 occurs due to the gravity during the process of lifting the object.
When the object is lifted completely out of the support plane, the line through the contact surface of the manipulator with the object is l, as indicated by the dashed straight line in fig. 3. Due to the friction torque between the contact surfaces of the manipulator and the object, the center of gravity of the object does not rotate to the straight line l, but to a position at a distance from l, as indicated by point C in fig. 3. The distance between point C and point l is d. The gravity of the object acts on the center of gravity C, which is indicated by G in fig. 3. The frictional torque exerted on the object by the robot is shown as M in fig. 3. Based on the principle that torque and friction torque are balanced, equation (1) can be derived.
M＝G·d (1)
Formula (2) for calculating friction torque of circular contact surface
In the formula (2), the first and second groups,
dA ═ r ═ d α ═ dr; f represents the grasping force; s represents a grabbing area; μ represents a friction coefficient; r represents the radius of the contact surface; d α, dr are the area integral infinitesimal, respectively, as shown in fig. 4.
After calculation, the formula (3)
D is solved by combining the formula (1) and the formula (3) to obtain a formula (4)
When the manipulator grabs the same object, the parameters R, mu and G are obviously constant;
as shown in fig. 5, if the robot is at the gripping point GP, respectively1，GP2The object is grabbed twice continuously with the same grabbing force F, and after the object completely leaves the supporting surface, the plumb lines passing through the grabbing points are respectively l1，l2Setting the center of gravity c point to be away from the plumb line l during twice grabbing1，l2Are respectively d1And d2Available formula (5)
d1＝d2 (5)
Two-time grabbing operation grabbing point GP1，GP2Determined by the control system of the robot and therefore the coordinate values of the gripping points are easily known.
The rotation angles of the object in two grabbing operations are theta1，θ2As shown in fig. 5. Wherein if the object rotates clockwise during being lifted, then thetaiIs greater than 0, if the object rotates counterclockwise during the lifting process, thetaiIs less than 0. In the calculation case of FIG. 51＞0，θ2＜0。
So that a plumb line l can be obtained1And l2Equation in the coordinate system, as in equation (6)
l1：y＝tanθ1·x+a1
l2：y＝tanθ2·x+a2 (6)
Wherein, as shown in fig. 5, the plumb line l1，l2Coordinates of intersection points with the Y coordinate axes are (0, a)1) And (0, a)2)。
Let the barycentric coordinate be (x)u，yu) From the center of gravity to a straight line l1And l2Is expressed as formula (7)
Simultaneous (4), (5) and (7), obtainable formula (8)
Wherein u-1234.
Solving equation (8), there are four possible coordinate values of the barycentric coordinate satisfying the equation, which are: c1＝(x1，y1)，C2＝(x2，y2)，C3＝(x3，y3)，C4＝(x4，y4). Wherein:
the specific process of determining the unique barycentric coordinate from the above four possible barycentric coordinates is shown in fig. 6, and is as follows:
step 3-1, setting an initial value of u, namely, u is 1;
step 3-2 will (x)u，yu) Into the formula M (u) ═ yu-xu·tanθ1-a1；
Step 3-3 to determine M (u) and theta1Whether the signs are the same or not, if so, turning to the step 3-4; if not, setting u to u + 1; switching to the step 3-2 for judgment;
step 3-4 will (x)u，yu) Substituting into the formula n (u) ═ yu-xu·tanθ2-a2；
Step 3-5, judging M (u) and theta2Whether the signs are the same or not, if so, outputting the gravity center position (x)u，yu) And ending; if not, setting u to u + 1; and the judgment is carried out from the step 3-2.
Claims (7)
1. The object gravity center detection method suitable for automatic grabbing by a manipulator is characterized by comprising the following steps of:
step 1, acquiring relevant parameters required by detecting the position of the gravity center of an object in advance;
and 2, performing two grabbing operations on the grabbed object, and respectively calculating to obtain four possible gravity coordinate values of the grabbed object by combining the related parameters acquired in advance:
C1＝(x1，y1)，C2＝(x2，y2)，C3＝(x3，y3)，C4＝(x4，y4)；
step 3, calculating the four possible barycentric coordinate values, and determining a unique barycentric coordinate from the four possible barycentric coordinate values;
in the step 1, the pre-acquired parameters comprise the gravity G of the object, the grabbing force F of the manipulator to the object, the friction coefficient mu between the circular finger of the manipulator and the grabbed object, the radius R of the contact surface between the circular finger of the manipulator and the grabbed object, and the rotation angle theta of the object during two grabbing operations1，θ2And in the objectIn two grabbing operations, after the object completely leaves the supporting surface, the intersection point coordinate (0, a) of the plumb line passing through the grabbing point and the Y coordinate axis can be obtained1) And (0, a)2)；
In the step 2, a calculation formula for calculating four possible barycentric coordinate values of the grasped object is as follows:
wherein u is 1, 2, 3, 4; four possible barycentric coordinate values of the grasped object can be respectively calculated by the formula: c1＝(x1，y1)，C2＝(x2，y2)，C3＝(x3，y3)，C4＝(x4，y4)。
2. The method for detecting the center of gravity of an object suitable for automatic grasping by a robot arm according to claim 1, wherein the gravity G of the object and the grasping force F of the object by the robot arm are obtained by a force sensor on the robot arm.
3. The method for detecting the center of gravity of an object adapted to be automatically grasped by a robot arm according to claim 1, wherein the coefficient of friction μ between the circular finger of the robot arm and the grasped object is obtained by a correlation database search.
4. The method for detecting the center of gravity of an object adapted to be automatically grasped by a robot hand according to claim 1, wherein the radius R of the contact surface of the circular finger of the robot hand and the grasped object is obtained by measurement with a vernier caliper.
5. The method for detecting the center of gravity of an object adapted to be automatically grasped by a robot hand according to claim 1, wherein the rotation angle θ of the object in two grasping operations of the object is obtained by an omnidirectional slip sensor fixed to a circular finger of the robot hand1，θ2。
6. The method for detecting the center of gravity of an object adapted to be automatically grasped by a robot arm according to claim 1, wherein the equations of the plumb lines passing through the grasping points after the object completely leaves the support surface in two grasping operations of the object are:
l1：y＝tanθ1·x+a1
l2：y＝tanθ2·x+a2 (1)
the plumb line l can be obtained according to the formula (1)1，l2Coordinates of intersection points with the Y coordinate axes (0, a), respectively1) And (0, a)2)。
7. The method for detecting the center of gravity of an object suitable for automatic robot grabbing according to claim 1, wherein the process of determining the unique center of gravity coordinates in step 3 is as follows:
step 3-1, setting an initial value of u, namely, u is 1;
step 3-2 will (x)u，yu) Into the formula M (u) ═ yu-xu·tanθ1-a1；
Step 3-3 to determine M (u) and theta1Whether the signs are the same or not, if so, turning to the step 3-4; if not, setting u to u + 1; switching to the step 3-2 for judgment;
step 3-4 will (x)u，yu) Substituting into the formula n (u) ═ yu-xu·tanθ2-a2；
Step 3-5, judging M (u) and theta2Whether the signs are the same or not, if so, outputting the gravity center position (x)u，yu) And ending; if not, setting u to u + 1; and the judgment is carried out from the step 3-2.
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| CN111604902B (en) * | 2020-05-18 | 2022-06-03 | 哈尔滨工业大学 | Target sliding detection method suitable for manual operation of manipulator |
| CN112802113B (en) * | 2021-02-05 | 2024-03-19 | 梅卡曼德（北京）机器人科技有限公司 | A method for determining grab points of arbitrary-shaped objects |
| CN116416444B (en) * | 2021-12-29 | 2024-04-16 | 广东美的白色家电技术创新中心有限公司 | Object grabbing point estimation, model training and data generation method, device and system |
| CN115026836B (en) * | 2022-07-21 | 2023-03-24 | 深圳市华成工业控制股份有限公司 | Control method, device and equipment of five-axis manipulator and storage medium |
| CN115323086A (en) * | 2022-08-09 | 2022-11-11 | 图灵智视(深圳)科技有限公司 | Oil edge track generation method and oil edge equipment |
| CN116727295A (en) * | 2023-06-15 | 2023-09-12 | 安徽天秉新材料科技有限公司 | Full-automatic waste fabric identification and sorting control system |
| CN117140529A (en) * | 2023-09-28 | 2023-12-01 | 中冶赛迪技术研究中心有限公司 | An unmanned steel grabber grabbing system and method for strip-shaped scrap steel |
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| CN103969003A (en) * | 2014-03-31 | 2014-08-06 | 刘建 | Measuring device for center of gravity of micro mobile robot |
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