Research On Visual Recognition And Trajectory Planning Of Industrial Robot Cutting Path

In recent years,with the development and maturity of machine vision,the application of visual recognition and image processing technology in industrial robots have become a hotspot in the field of robot research.In this thesis,mitsubishi RV-3SD six degrees of freedom industrial robot for the object,the visual recognition and trajectory planning of the cutting path of the industrial robot are studied based on the robot kinematics analysis and machine vision technology.The simulation experiment of robot kinematics and trajectory planning is carried out by using Matlab Robotics toolbox.The main contents of this paper are as follows:(1)A set of machine vision system is designed in the industrial robot end of the actuator,and the calibration experiment is carried out of camera within the system,resulting in the camera parameters and distortion coefficient,for the cutting path of visual recognition and image processing to prepare.(2)According to the characteristics of cutting path in this paper,a method of extracting feature information of path by linear Hough transformation and circle Hough transformation is proposed.After the preprocessing operation such as filtering,enhancement and binarization of the cutting path image,the Canny operator is used to extract the edge of the image,and then the pixel coordinates of the six feature points of the cutting path image is obtained by linear Hough transformation and circle Hough transformation.Finally,the coordinate of the position in the world coordinate system is obtained by coordinate transformation.(3)Based on the Mitsubishi RV-3SD six degrees of freedom industrial robot,the robot linkage coordinate system is established based on the D-H parameter method,and the inverse kinematics analysis and solving of the robot are carried out.Finally,the simulation experiment of Matlab Robotics toolbox is used to verify the correctness of the solution.(4)The trajectory planning method of cutting path of industrial robot is studied and simulated.The trajectory planning method for industrial robots in joint space and cartesian space is studied and the simulation experiment is carried out by using Matlab Robotics toolbox,then the industrial robot can move according to the predetermined cutting path and simulate the robot cutting process.