Laser & Optoelectronics Progress, Volume. 57, Issue 10, 101503(2020)
Processing Trajectory Planning of Space Curved Robot Based on Vision
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.
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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
Category: Machine Vision
Received: Sep. 5, 2019
Accepted: Oct. 18, 2019
Published Online: May. 8, 2020
The Author Email: Li Chao (1019339163@qq.com)