Positioning method, grasping method, and technical realization elements of electronic equipment of the robotic arm

Technical implementation elements:

4. The purpose of this technology is to provide a positioning method, grasping method, electronic device and storage medium of a robotic arm, which does not require precise positioning of the mobile carrier, and can avoid the movement of the mobile carrier due to the inability of the mobile carrier to locate itself. Then position the robot arm by repeatedly teaching the robot arm.

5. In the first aspect, the present technology provides a positioning method for a robotic arm, which is used to position and adjust the pose of an end tool to a target reference coordinate system, and is applied in a robotic arm positioning system. The aforementioned robotic arm positioning system includes the aforementioned robotic arm. , camera and positioning code, the above-mentioned mechanical arm includes the above-mentioned end tool, the above-mentioned camera is installed on the above-mentioned mechanical arm, and the position of the above-mentioned end tool is relatively fixed, the above-mentioned camera is used to collect image information, and the positioning code coordinate system of the above-mentioned positioning code is the same as the above-mentioned positioning code. The target reference coordinate system is relatively fixed, and the positioning method for the robotic arm includes: s11, obtaining a first transformation relationship according to image information including a positioning code, where the first transformation relationship is the position of the positioning code coordinate system relative to the current camera coordinate system Attitude relationship; s12, obtain a third transformation relationship according to the first transformation relationship and the pre-determined second transformation relationship, the second transformation relationship is the pose relationship of the target camera coordinate system relative to the positioning code coordinate system, the target camera coordinate system The coordinate system is the camera coordinate system when the end tool coordinate system of the end tool and the target reference coordinate system overlap, and the third transformation relationship is the pose relationship of the target camera coordinate system relative to the current camera coordinate system or the target. The pose relationship of the reference coordinate system relative to the current end tool coordinate system; s13, adjust and position the end tool according to the third transformation relationship, so that the end tool coordinate system and the target reference coordinate system coincide.

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