佛山科学技术学院学报（自然科学版）2026，Vol.44Issue(3)：51-57,7.
工业机器人微小异形零件动态高精度抓取控制方法
Dynamic high-precision grasping control method for small irregular parts of industrial robots
摘要
Abstract
The size of small irregular parts is usually in the millimeter or even micrometer range,and their shapes are complex and varied(such as curved surfaces,edges,holes,etc.),which poses great challenges to the grasping operation of robots.Based on the dynamic equation of the robotic arm and the relationship between the gripper tension and the target part size,the center of mass coordinates and grasping time of the part are determined,and the grasping point positioning is completed based on the center of mass distance of the part.With reference to the 3D grasping model of the robotic arm,the robot's grasping pose parameters are obtained;combined with the cumulative value of vectors defined by the grasping nodes,the grasping parameters are adjusted.By calculating the probability distribution of each joint condition of the robot,the target grasping behavior is completed to achieve grasping control.The experimental results show that when the proposed method is used for robot grasping control,the success rate of robot grasping is always not less than 80%under different part conveying speed conditions.关键词
工业机器人/微小异形零件/抓取参数/视觉传感器/抓取成功率Key words
industrial robot/small irregular parts/grasping parameters/visual sensor/capture success rate分类
信息技术与安全科学引用本文复制引用
周颀,谢义..工业机器人微小异形零件动态高精度抓取控制方法[J].佛山科学技术学院学报（自然科学版）,2026,44(3):51-57,7.基金项目
安徽省教育厅教学创新团队项目(2022cxtd010) （2022cxtd010）
安徽省教育厅教学资源库项目(2022jxzyk004) （2022jxzyk004）
