Research And Implementation Of Automous Grasping And Releasing Technology For Intelligent Medicine Delivery Robot

With the increasing improvement of robotics industry technology,robots are widely used in more fields and industries to replace manual operations.In industrial production,robots liberate workers from complex programmed labor or harsh working environments.In addition to industrial production,service robots,as the closest robot to human life,provide great help for people to reduce labor in human related social industries.For example,the Med.R-001 robot studied in this article is an intelligent medical delivery robot designed to reduce the workload of medical personnel.In view of the current development situation of medical delivery robots,this article relies on the Med.R-001 robot platform to conduct research on the fully autonomous grasping and releasing technology of intelligent medical delivery robots and related work.Firstly,based on the machine vision system,a comprehensive design for the autonomous grasping and releasing system of the intelligent medical delivery robot is carried out.This article introduces the structure of the Med.R-001 robot and the currently designed drug delivery scheme.Aiming at the design requirements of fully autonomous grasping and releasing,it focuses on analyzing the scheme and process of the terminal delivery link of the robot.On this basis,the technical requirements and difficulties of autonomous grasping are analyzed in depth,combining multiple aspects of the robot grasping and placement process.Further,in view of the differences in the working environment between grasping and placing,a working scheme that introduces a machine vision system to assist the movement of the robot arm is proposed;Then,according to the task requirements,determine the vision recognition scheme and the vision system construction scheme,and conduct a comprehensive scheme design for the autonomous grasping and releasing system of the robot.Secondly,in order to solve the problem of identifying vacant regions and selecting placement points before autonomous placement of the robot arm,a method for identifying vacant regions and a placement point selection algorithm are proposed.Based on the unstructured characteristics of the placement environment,3D point cloud information of the placement environment is obtained using visual technology.Techniques such as preprocessing,clustering and segmentation,and plane fitting are used to analyze and extract the obtained scene information,thereby obtaining an empty domain.Combining point cloud edge extraction algorithm and kd tree fast search algorithm,a placeable point domain extraction method is proposed;A placement point selection algorithm based on point cloud density calculation is designed.Thirdly,the motion planning of the robotic arm during autonomous grasping and releasing is studied.Establish a D-H coordinate system,and perform forward and inverse kinematics solutions and workspace analysis for the robot arm in MATLAB.The collision detection problem in the motion of the robot arm is discussed and studied.The collision free path planning of the robot arm is performed using the RRT-connect algorithm.Aiming at the problem of trajectory preset in the grasping process and trajectory smoothing in the motion process of the robot arm,theoretical research has been conducted on Cartesian trajectory planning and polynomial trajectory planning methods,and in MoveIt!For simulation verification.Finally,based on ROS,the entire autonomous grasping and releasing system is improved and experimental verification and analysis are conducted.Design multiple sets of placement scenarios,collect environmental point cloud information,validate the vacancy domain recognition algorithm and placement point selection algorithm proposed previously,and analyze the effectiveness and limitations of the algorithm based on actual environmental information.Connect the physical object,drive the robot arm,verify the applicability of the robot arm motion planning algorithm through real experiments,complete the complete process of taking medicine from the medicine storage box and placing it at the target point independently,and verify the reliability of the system and the feasibility of research.