Method and apparatus for position alignment of robotic arm, as well as electronic device

A method for position alignment of a robotic arm, comprising:

• determining initial position information of a target plane targeted by the robotic arm, wherein the initial position information comprises a unit normal vector of the target plane and a preset projection point;
• controlling the robotic arm to move according to the initial position information of the target plane;
• acquiring current coordinates of a terminal plane of the robotic arm, and determining a target projection point on the terminal plane and a target normal vector according to the current coordinates;
• determining a displacement between the terminal plane and the target plane according to the target projection point on the terminal plane and the target normal vector as well as the unit normal vector of the target plane and the preset projection point;
• and
• correcting the initial position information of the target plane through the displacement, thereby enabling the robotic arm to move to a corrected target plane;
• wherein
• determining initial position information of a target plane targeted by the robotic arm comprises:
• collecting first coordinates of a position where a first positioning tool is located by a binocular camera, wherein the first positioning tool is disposed adjacent to the target plane and rigidly fixed thereto;
• transforming the first coordinates into a world coordinate system according to a coordinate transformation matrix between the binocular camera and the target plane to obtain second coordinates;
• and
• determining a first plane equation of the target plane based on the second coordinates, and obtaining a unit normal vector of the target plane and a preset projection point of a preset point on the target plane based on the first plane equation;
• transforming the first coordinates into a world coordinate system according to a coordinate transformation matrix between the binocular camera and the target plane to obtain second coordinates comprises:
• transforming the first coordinates into the world coordinate system according to a coordinate transformation matrix between the binocular camera and a second positioning tool to obtain second coordinates, wherein the second positioning tool is rigidly fixed to the target plane.