激光与光电子学进展, 2020, 57 (10): 101503, 网络出版: 2020-05-08
基于视觉的空间曲线机器人加工轨迹规划 下载: 1252次
Processing Trajectory Planning of Space Curved Robot Based on Vision
双目视觉 激光靶标重构 曲线拟合 轨迹规划 手眼系统 binocular vision laser target reconstruction curve fitting trajectory planning hand-eye system
摘要
为提高机器人在切削加工柱形工件时的精准性和高效性,运用视觉重构与机器人运动联合技术,提出了一种基于双目视觉和激光靶标重构点生成机器人切削加工轨迹的算法。首先搭建CCD相机视觉环境以及圆点激光器测量装置,通过遍历工件表面形成动态轨迹;然后重构轨迹点并拟合成连续的切削加工路径,以自适应倍数离散差分算法规划机器人加工轨迹;最后通过机器人手眼系统的坐标系闭环链,将姿态轨迹换算成机器人关节运动角度,形成了从三维重构曲线到机器人轨迹姿态规划的整套自动加工方案。仿真实验结果表明,该方法能精准地提取工件轮廓的三维坐标,生成机器人空间曲线的姿态轨迹,完成切削加工任务。
Abstract
In order to improve the accuracy and efficiency of the robot when cutting cylindrical workpieces, an algorithm based on binocular vision and laser target reconstruction point to generate robot cutting path is proposed through joint vision reconstruction and robot motion. First, the CCD camera vision environment and the dot laser measuring device are set up to form a dynamic trajectory by traversing the surface of the work-piece. Then the trajectory points are reconstructed and fitted into a continuous cutting path, and the robot processing trajectory with the adaptive multiple discrete difference algorithm is planned. Finally, through the closed-loop chain of the coordinate system of the robotic hand-eye system, the attitude trajectory is converted into the robot joint motion angle, and a complete set of automatic processing scheme from the three-dimensional reconstruction curve to the robot trajectory attitude planning is formed. Simulation results show that the algorithm can accurately extract the three-dimensional coordinates of the work-piece contour, generate the processing trajectory of the robot space curve, and complete the cutting task.
苏工兵, 李超, 刘天祥, 房纯. 基于视觉的空间曲线机器人加工轨迹规划[J]. 激光与光电子学进展, 2020, 57(10): 101503. Gongbing Su, Chao Li, Tianxiang Liu, Chun Fang. Processing Trajectory Planning of Space Curved Robot Based on Vision[J]. Laser & Optoelectronics Progress, 2020, 57(10): 101503.