OPENTECHNICAL PUBLICATION
OT-2026-000002352

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

Published: 2026-09-15T19:12:26.368439Z
Permanent URL: https://opentechnical.org/p/OT-2026-000002352
Categories: Robotics & Automation > Robot Architectures

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ABSTRACT

A method for aligning a robot end with a target object includes: acquiring a
target direction for a surface to be aligned; selecting a control point, and
establishing a coordinate system of the control point; controlling the surface
to move along a direction such that the z-axis points in the target direction;
rotating, when the surface is determined to be in contact with the target
object, the surface with respect to the target object actively and keeping the
surface in contact with the target object, and acquiring a first displacement
of the control point; determining a relationship between the first
displacement 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; and controlling, based on the determination,
the surface to be rotated.

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OpenTechnical publication OT-2026-000002352
Published 2026-09-15T19:12:26.368439Z
https://opentechnical.org/p/OT-2026-000002352