Research On Trajectory Planning Of Robot Arm Based On Machine Vision

In recent years,robots have become more and more widely used in the fields of industry,automobile manufacturing,logistics,etc.,and people's requirements for the level of robot intelligence are also increasing.Robots using traditional sensing methods have been unable to adapt to the increasingly high demands of intelligence,and new types of robots with vision are becoming more and more popular.In this paper,the robotic arm system based on machine vision is taken as the research object,and the problems of deep image information processing and robot arm trajectory planning are studied.The main work is as follows:1)The problem of 3D measurement and localization based on Kinect depth image is studied.An adaptive median filtering algorithm is used to repair the hole and noise defects in the depth image.On the basis of repairing the depth image,the Canny operator and the Hough transform are used to detect the target edge line,and the three-dimensional size and position of the target object is calculated.2)The trajectory planning method of the manipulator is studied.Taking the Dobot manipulator as the research object,the forward and inverse kinematics and singular problems of the manipulator are analyzed.The time optimization and impact optimality are used as indicators to improve the trigonometric trajectory planning method of joint space by convex optimization.In Cartesian coordinate space,the simulated annealing algorithm is improved by using the hyperbolic tangent function.The trajectory planning is completed based on the improved simulated annealing algorithm.The simulation results show that the improvement of this paper improves the convergence speed and optimizes the trajectory motion time and the impact of the mechanical arm joint force.3)The problem of three-dimensional single-box loading is studied.Based on the time manager game strategy,the hierarchical packing and assembly filling rules are formulated.Using the cuckoo search algorithm,the optimal space utilization rate is the target,and the smallest gap packing scheme is searched.The redundancy is performed in the cuckoo search process.Correction to narrow the search scope and improve search efficiency.Simulation experiments show the effectiveness of the modified cuckoo search algorithm.4)An experimental platform of the robotic arm system based on Kinect deep vision is built,and software is designed for testing.The results of experiments prove that the technique and system in this paper are feasible and effective.