Title:
MOVING ARM SYSTEM AND CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2022/012337
Kind Code:
A1
Abstract:
The present disclosure relates to the field of robotic equipment. Disclosed is a control method for a moving arm. The control method comprises: obtaining an image collected by an image collection device, wherein the image comprises an image of a marker configured on the tail end of a moving arm, and the marker comprises a plurality of marker corner points; identifying the marker corner points in the collected image; and on the basis of the identified marker corner points, determining the current relative posture of the tail end of the moving arm relative to the image collection device. On the basis of a closed-loop control method for visual tracking, and a configured marker, the posture of the tail end of a moving arm is detected in real time, thereby effectively reducing the trajectory tracking error of the moving arm, such that the movement control error can be reduced.
Inventors:
XU KAI (CN)
WU BAIBO (CN)
YANG HAOZHE (CN)
LIU XU (CN)
WU BAIBO (CN)
YANG HAOZHE (CN)
LIU XU (CN)
Application Number:
PCT/CN2021/103719
Publication Date:
January 20, 2022
Filing Date:
June 30, 2021
Export Citation:
Assignee:
BEIJING SURGERII TECH CO LTD (CN)
International Classes:
B25J9/16; A61B34/30; G01B11/00
Foreign References:
| CN110959099A | 2020-04-03 | |||
| JP2009285778A | 2009-12-10 | |||
| JP2010172986A | 2010-08-12 | |||
| CN109949366A | 2019-06-28 | |||
| CN102922521A | 2013-02-13 |
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