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为了让研究人员更容易掌握机器人的抓取技术,Energid公司正在开发一个图形用户界面(GUI)的工具和算法,该算法包括可重复使用的软件工具包,从而能够快速轻松地实现抓取。该方法是通用的,可应用于所有的机器人手臂、机械臂及移动平台,将视觉、位置控制、力控制、避障算法自然地整合到进程中,并且将有效的抓取参数存储于数据库内,用于以后实时应用。本文描述了Energid软件系统如何利用便捷的人机界面、驱动机器人手臂的新方法实现对抓取过程的实时仿真。
To make it easier for researchers to grasp robot-grabbing techniques, Energid is developing a graphical user interface (GUI) tool and algorithm that includes a reusable software toolkit that enables quick and easy capture. This method is universal and can be applied to all robotic arms, robotic arms and mobile platforms. It integrates vision, position control, force control and obstacle avoidance algorithms into the process naturally, and stores effective crawling parameters in the database For later real-time applications. This article describes how the Energid software system utilizes a convenient man-machine interface and a new method of driving a robotic arm to enable real-time simulation of the picking process.