A hand-eye-coordinated grasping method based on a fixation point of a person's eye, comprising the following steps: S1, using an eye tracker to determine a fixation point of a person's eye, and on the basis of the fixation point of the person's eye, determining a position of an object (20) in which a user is interested; S2, by means of discretizing and traversing, obtaining a set of executable grasping orientations of a mechanical arm (11) at each position in space, and storing same in a server; S3, on the basis of the position of the object in which the user is interested, accessing the server so as to search for and obtain a set of executable grasping orientations for said position; S4, on the basis of an inverse solution for each grasping orientation in the set of executable grasping orientations, obtaining a plurality of solutions for each joint angle of the mechanical arm, and determining optimal solutions from among the plurality of solutions for the joint angles, that is, obtaining an optimal joint angle corresponding to each joint of the mechanical arm; and S5, each joint of the mechanical arm moving to the corresponding optimal joint angles, and then grasping the object in which the user is interested with the best grasping orientation. The hand-eye-coordinated grasping method based on a fixation point of a person's eye features the advantages of accurate grasping and convenient operation.
HAND-EYE-COORDINATED GRASPING METHOD BASED ON FIXATION POINT OF PERSON'S EYE