Research On Trajectory Planning And Tracking Technology Of Binocular Vision Robot

At present,industrial robots have become an indispensable part of modern manufacturing,it is necessary to study the trajectory planning and tracking.In this paper,the KUKA robot is used as the carrier,and the trajectory planning and tracking are studied in detail by means of theoretical and simulation verification.In order to obtain the fast and stable position information of the robot,the binocular vision system is used as the sensing device to provide the random position information for the robot control.Trajectory planning is the basis of trajectory tracking.Therefore,the trajectory planning of robot is studied and analyzed,and then the trajectory tracking is studied and analyzed.(1)To introduce the binocular vision system,the binocular space positioning function applied to the robot system.Firstly,the imaging model of the camera is established,and the relationship between the image coordinate system,the camera coordinate system and the world coordinate system is analyzed,and the binocular camera system is calibrated.Then,the coordinate transformation relationship of the visual robot is analyzed.Visual system and robot coordinate system calibration;Finally,the calibration of the binocular vision robot and the coordinate transformation of the spatial point are realized by using C ++.(2)Taking the KUKA 6 degree of freedom robot as the research object,the DH coordinate system is modeled,the positive and inverse solutions of the equations of motion is deduced.Then,use the MATLAB robot toolbox to verify the established model.On the basis of kinematics,the robot is planned in the joint space and the Cartesian space.In order to allow the end of robot effect to smooth the random target,the cubic spline interpolation is used to plan the trajectory in the Cartesian space and fit the trajectory of the end.Finally,the robot toolbox is used to simulate the joint space trajectory planning,and the trajectories of the joint angular position,velocity,acceleration and end position are drawn.The correctness of the simulation algorithm is proved theoretically.(3)In order to allow the robot end effector to track the desired trajectory smoothly and without impact,the dynamic characteristics of the trajectory tracking control algorithm are considered.Firstly,the traditional trajectory tracking algorithm is analyzed on the basis of the dynamic model,and the feedback linear integral sliding mode algorithm is proposed.The Lyapunov theory is used to analyze the stability of the trajectory.Finally,the algorithm is simulated by matlab software The simulation results verify the feasibility of the proposed algorithm and its advantages in tracking accuracy and response time.