Positioning method, grasping method, and electronic equipment of robotic arm

6. A method for positioning a robotic arm provided by the present technology first obtains a first transformation relationship according to image information, then obtains a third transformation relationship according to the first transformation relationship and a pre-determined second transformation relationship, and then obtains a third transformation relationship according to the third transformation relationship. Feedback adjustment and positioning of the end tool is performed to make the end tool coordinate system coincide with the target reference coordinate system to realize the positioning of the end tool. Since there is no need to obtain the position information of the mobile carrier during the positioning process of the end tool, there is no need to move the

The moving carrier performs precise positioning, thereby effectively avoiding the situation that the end tool is positioned by repeatedly teaching the robot arm after the moving carrier moves because the moving carrier cannot be positioned autonomously.

7. Optionally, the pre-determination process of the second transformation relationship includes the following steps: teaching and moving the robotic arm to adjust the coordinate system of the end tool to coincide with the target reference coordinate system; reference image information, and the second transformation relationship is determined based on the reference image information.

8. Optionally, step s13 includes: acquiring movement information according to the above-mentioned third transformation relationship; if the above-mentioned movement information is greater than a preset first threshold, controlling the movement of the above-mentioned robotic arm according to the above-mentioned movement information and the preset first coefficient, and Return to step s11 after re-acquiring the image information including the positioning code, until the above-mentioned movement information is less than or equal to the above-mentioned first threshold.

9. If the movement information is greater than the first threshold, the technical solution controls the movement of the robotic arm according to the movement information and the preset first coefficient and returns to step s11 until the movement information is less than or equal to the first threshold, so as to gradually adjust the coordinate system of the end tool. to coincide with the target reference coordinate system.

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