At present,there is a problem of large positioning error in the rotation angle control method of manipulator grasping automobile parts.For this reason,the control method of rotation angle of six degree of freedom manipulator grasping automobile parts is proposed.The binocular vision method is used to locate the target of automobile parts.The rotation angle of the six degree of freedom manipulator grasping automobile parts is accurately calculated by the workspace method.The Lagrange method is used to complete the dynamic calculation of the six degree of freedom manipulator and realize the control of the rotation angle of the six degree of freedom manipulator grasping automobile parts.The experimental results show that the method proposed in this paper can accurately and effectively complete the six degree of freedom manipulator grasping the vehicle parts,which shows that the control effect of the manipulator grasping rotation angle is better.
关键词
六自由度机械臂/汽车零件/机械臂抓取/旋角控制/目标定位/抓取空间
Key words
6-DOF Manipulator/Auto Parts/Mechanical Arm Grab/Angle Control/Target Location/Grabbing Space
维普
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