Research On Path Planning And Vision Guiding Of Cartesian Robot

With the rapid development of the manufacturing industry,robots play a more and more important role in various fields.The Cartesian robot has a great advantage in operation of the handling,processing and assembling of some workpieces.In some jobs that require high accuracy and high efficiency,robots are required to plan an optimal path in many feasible paths,and enable the robot terminal executor to reach the target location accurately.This article takes Cartesian robot as the research object,and this thesis mainly include the following several aspects:Firstly,according to motion characteristics of the Cartesian robot,mathematical model for path planning is set up and transform the mathematical model into a traveling salesman problem.The genetic algorithm is applied to the optimal path planning,and the optimal path planning algorithm for a Cartesian robot based on genetic algorithm is proposed.Thus,the optimal path of the terminal executor of Cartesian robot is planned and the order of the objects is determined.Secondly,this article takes the single monocular CCD camera as the visual element.The camera linear model and the image distortion model are set up,and the camera is calibrated.The external contour of the target workpiece is determined by the image preprocessing and image feature recognition.The smallest external rectangle of workpiece is drawn by the minimum circumscribed rectangle method,and the centroid of the objective workpiece in the image is calculated based on the geometric invariant moments of the workpiece.The position of the workpiece is determined by the hand eye calibration method of the Cartesian robot,and the visual guidance is completed.Thirdly,the main components of the Cartesian robot are determined,including camera,lens,motion control card,line rail and motor selection,then the Cartesian robot system is established.MFC module of Visual C++ is used to design the man-machine interface of control system based on the modularization idea.The man-machine interface of control system is composed of several modules,and the main modules are analyzed in detail,and establish an experimental platform for Cartesian robot based on vision guiding.Finally,the experimental research is carried out on the basis of established Cartesian robot,including Cartesian robot internal executor positioning error experiment,Cartesian robot path planning experiment,Cartesian robot visual guidance experiment,and the experimental results are analyzed.