FIELD: robotics.
SUBSTANCE: invention relates to robotic systems for manipulating objects by means of a manipulator with a gripper. A method for performing manipulation with an object by means of a robotic arm includes the following steps: providing a library of methods for capturing objects with a gripping device of a hand, obtaining the shape of an object, its dimensions and position point, obtaining a scene around the object, determining the possibility of capturing an object, selecting a position of a pre-capturing gripping device, determining the optimal method of capture and position of the gripper, bringing the gripper to the pre-gripping point and placing the gripping device in the pre-gripping position, performing the gripping and the required manipulation with the object.
EFFECT: capturing and manipulating with high accuracy previously unknown objects and objects of complex shape.
3 cl, 1 dwg
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