中国激光, 2018, 45 (5): 0502009, 网络出版: 2018-05-21
基于三维点云的机器人加工轨迹规划 下载: 1199次
Path Planning of Robot Processing Based on Three-Dimensional Point Cloud
激光技术 工业机器人 轨迹规划 点云测量 激光点云 法矢估计 laser technique industrial robot path planning point cloud measurement laser point cloud normal vector estimation
摘要
为了使机器人准确高效地完成复杂轮廓工件的切削加工, 结合点云技术与机器人技术, 提出了一种基于三维点云直接生成机器人的切削加工轨迹的算法。搭建了一种以激光位移传感器和机器人为核心部件的点云测量系统, 通过坐标关系变换实现了一维测量到三维测量的扩展。通过在线测量获取了被加工工件轮廓的三维点云, 采用点云预处理算法和机器人轨迹的生成算法, 直接生成了针对被测工件的机器人加工轨迹。仿真结果表明, 该测量系统及算法能够准确地提取工件轮廓的三维点云并快速生成机器人的加工轨迹。
Abstract
In order to make the industrial robots complete the cutting and machining processes of complicated workpieces accurately and efficiently, one algorithm for the robot cutting and machining processing paths directly generated by the three dimensional (3D) point cloud is proposed, which is combined with the point cloud technology and the robot technology. The point cloud measurement system with laser displacement sensors and industrial robots as its core units is constructed, and the extension from one-dimensional measurement to the 3D measurement is realized by the coordinate transformation. The 3D point cloud of the machined workpiece profiles is obtained by the on-line measurement, and the point cloud preprocessing algorithm and the robot path planning algorithm are adopted to generate directly the robot paths for the machined workpieces. The simulation results show that this measurement system and the algorithms can accurately extract the 3D point cloud of the workpiece profiles and quickly generate the robot processing paths.
张铁, 张美辉, 邹焱飚. 基于三维点云的机器人加工轨迹规划[J]. 中国激光, 2018, 45(5): 0502009. Zhang Tie, Zhang Meihui, Zou Yanbiao. Path Planning of Robot Processing Based on Three-Dimensional Point Cloud[J]. Chinese Journal of Lasers, 2018, 45(5): 0502009.