Method, robot and storage medium for aligning robot end with target object

A robot comprising a processor and a memory having a computer program stored thereon, wherein a method for aligning a robot end with a target object is implemented when the processor executes the computer program, the method comprising-:

• acquiring a target direction for a surface to be aligned of the robot end;
• selecting a point having a known position with respect to the surface to be aligned as a control point, and establishing a coordinate system of the control point having an x-axis, a y-axis and a z-axis;
• controlling the surface to be aligned to move along a direction such that the z-axis of the coordinate system points in the target direction;
• acquiring force information of the robot end, and determining whether the surface to be aligned is in contact with the target object;
• rotating, when the surface to be aligned is determined to be in contact with the target object based on the force information, the surface to be aligned with respect to the target object actively and keeping the surface to be aligned in contact with the target object, and acquiring a first displacement of the control point during this process;
• determining a relationship between the first displacement of the control point and the z-axis;
• determining, based on the relationship between the first displacement and the z-axis, whether a current rotation direction is a correct alignment direction to obtain a first determination result;
• and
• controlling, based on the first determination result, the surface to be aligned to be rotated.

A non-transitory computer readable storage medium on which a computer program is stored, wherein the computer program, when executed by a processor, a method for aligning a robot end with a target object is implemented, the method comprising:

• acquiring a target direction for a surface to be aligned of the robot end;
• selecting a point having a known position with respect to the surface to be aligned as a control point, and establishing a coordinate system of the control point having an x-axis, a y-axis and a z-axis;
• controlling the surface to be aligned to move along a direction such that the z-axis of the coordinate system points in the target direction;
• acquiring force information of the robot end, and determining whether the surface to be aligned is in contact with the target object;
• rotating, when the surface to be aligned is determined to be in contact with the target object based on the force information, the surface to be aligned with respect to the target object actively and keeping the surface to be aligned in contact with the target object, and acquiring a first displacement of the control point during this process;
• determining a relationship between the first displacement of the control point and the z-axis;
• determining, based on the relationship between the first displacement and the z-axis, whether a current rotation direction is a correct alignment direction to obtain a first determination result;
• and
• controlling, based on the first determination result, the surface to be aligned to be rotated.