Method and apparatus for position alignment of robotic arm, as well as electronic device
A method and apparatus for position alignment of a robotic arm, which includes determining initial position information of a target plane targeted by the robotic arm, where the initial position information includes a unit normal vector of the target plane and a preset projection point; controlling the robotic arm to move according to the initial position information of the target plane; acquiring current coordinates of a terminal plane of the robotic arm, and determining a target projection point on the terminal plane and a target normal vector according to the current coordinates; determining a displacement between the terminal plane and the target plane according to the target projection point on the terminal plane and the target normal vector as well as the unit normal vector of the target plane and the preset projection point; and correcting the initial position information of the target plane through the displacement.
1 . A method for position alignment of a robotic arm, comprising:
determining initial position information of a target plane targeted by the robotic arm, wherein the initial position information comprises a unit normal vector of the target plane and a preset projection point;
controlling the robotic arm to move according to the initial position information of the target plane;
acquiring current coordinates of a terminal plane of the robotic arm, and determining a target projection point on the terminal plane and a target normal vector according to the current coordinates;
determining a displacement between the terminal plane and the target plane according to the target projection point on the terminal plane and the target normal vector as well as the unit normal vector of the target plane and the preset projection point; and
correcting the initial position information of the target plane through the displacement, thereby enabling the robotic arm to move to a corrected target plane; wherein
determining initial position information of a target plane targeted by the robotic arm comprises:
collecting first coordinates of a position where a first positioning tool is located by a binocular camera, wherein the first positioning tool is disposed adjacent to the target plane and rigidly fixed thereto;
transforming the first coordinates into a world coordinate system according to a coordinate transformation matrix between the binocular camera and the target plane to obtain second coordinates; and
determining a first plane equation of the target plane based on the second coordinates, and obtaining a unit normal vector of the target plane and a preset projection point of a preset point on the target plane based on the first plane equation;
transforming the first coordinates into a world coordinate system according to a coordinate transformation matrix between the binocular camera and the target plane to obtain second coordinates comprises:
transforming the first coordinates into the world coordinate system according to a coordinate transformation matrix between the binocular camera and a second positioning tool to obtain second coordinates, wherein the second positioning tool is rigidly fixed to the target plane.
2 . The method for position alignment of a robotic arm according to claim 1 , wherein acquiring current coordinates of a terminal plane of the robotic arm comprises:
collecting positioning coordinates on the terminal plane by the binocular camera; and
transforming the positioning coordinates into the world coordinate system according to a coordinate transformation matrix between the terminal plane and the binocular camera to obtain the current coordinates.
3 . The method for position alignment of a robotic arm according to claim 2 , wherein the current coordinates comprise coordinates of at least three points that are not in a same straight line on the terminal plane, and coordinates of at least one point outside the terminal plane.
4 . An apparatus for position alignment of a robotic arm, used to implement the method for position alignment of a robotic arm according to claim 1 , comprising:
a target plane determining module implemented on one or more processors and configured to determine initial position information of a target plane targeted by the robotic arm, wherein the initial position information comprises a unit normal vector of the target plane and a preset projection point;
a robotic arm control module implemented on one or more processors and configured to control the robotic arm to move according to the initial position information of the target plane;
a robotic arm position determining module implemented on one or more processors and configured to acquire current coordinates of a terminal plane of the robotic arm, and determine a target projection point on the terminal plane and a target normal vector according to the current coordinates;
a displacement determining module implemented on one or more processors and configured to determine a displacement between the terminal plane and the target plane according to the target projection point on the terminal plane and the target normal vector as well as the unit normal vector of the target plane and the preset projection point; and
a motion compensation module implemented on one or more processors and configured to correct the initial position information of the target plane through the displacement, thereby enabling the robotic arm to move to a corrected target plane; wherein
the target plane determining module comprises:
a coordinate collecting module implemented on one or more processors and configured to collect first coordinates of a position where a first positioning tool is located by a binocular camera, wherein the first positioning tool is disposed adjacent to the target plane and rigidly fixed thereto;
a coordinate transformation module implemented on one or more processors and configured to transform the first coordinates into a world coordinate system according to a coordinate transformation matrix between the binocular camera and the target plane to obtain second coordinates; and
a normal vector determining module implemented on one or more processors and configured to determine a first plane equation of the target plane based on the second coordinates, and obtain a unit normal vector of the target plane and a preset projection point of a preset point on the target plane based on the first plane equation;
the coordinate transformation module is configured to:
transform the first coordinates into the world coordinate system according to a coordinate transformation matrix between the binocular camera and a second positioning tool to obtain second coordinates, wherein the second positioning tool is rigidly fixed to the target plane.
5 . The apparatus for position alignment of a robotic arm according to claim 4 , wherein the robotic arm position determining module comprises:
a robotic arm position collecting module implemented on one or more processors and configured to collect positioning coordinates on the terminal plane by the binocular camera; and
a position transformation module implemented on one or more processors and configured to transform the positioning coordinates into the world coordinate system according to a coordinate transformation matrix between the terminal plane and the binocular camera to obtain the current coordinates.
6 . An electronic device, comprising a processor and a memory, wherein one or more computer programs are stored in the memory and comprise an instruction, and the instruction, when executed by the electronic device, is configured to enable the electronic device to execute the method for position alignment of a robotic arm according to claim 1 .