Model training method and device and mechanical arm system

The embodiment of the invention discloses a model training method and device and a mechanical arm system. The mechanical arm system comprises a slave mechanical arm, a master mechanical arm, image acquisition equipment and control equipment, the slave mechanical arm comprises M joint motors and a ta...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: HUANG RUI, CAI TONGBIAO, HUANG YILIANG, JIANG YU, LANG XULIN
Format: Patent
Sprache:chi ; eng
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Beschreibung
Zusammenfassung:The embodiment of the invention discloses a model training method and device and a mechanical arm system. The mechanical arm system comprises a slave mechanical arm, a master mechanical arm, image acquisition equipment and control equipment, the slave mechanical arm comprises M joint motors and a tail end used for installing an actuator, the M joint motors enable the tail end to have m degrees of freedom, the actuator is used for operating a target object, the master mechanical arm comprises N joint motors and a handle, and the M joint motors are connected with the M joint motors. The N joint motors enable the handle to have m degrees of freedom, the handle is arranged to be used for a user to remotely operate the actuator, the image acquisition equipment acquires image information containing the target object, and the control equipment is configured to obtain angular positions of the M joint motors and angular positions of the N joint motors, inputting the image information, the angular positions of the M jo