Design And Motion Planning Of Short-Range Picking Robot Based On RealSense

In this paper,the design of short range picking robot based on RealSense is designed to solve the problem that the existing picking robot has a large body,long way to put fruit,and unreliable hand eye coordination.A far-to-near range coordinated control strategy based on RealSense information feedback is proposed,and the motion planning of robotic manipulator is carried out.The main research work is as follows:(1)In view of the problem of long picking cycle caused by the picking path of the picking robot,the scheme of the combination of the lift and the near air in the air is put forward,and the structure design of the short range picking robot is carried out.The concrete structure of the picking robot is carried out in the face of the requirements of the large range picking operation and the demand for the near fruit setting in the air.The design and parameter calculation,the use of ANSYS to the key parts of the finite element analysis to verify the practicality of the mechanism,and the components of the dynamic calculation and hardware selection.(2)Using the Pro/E 3D software to establish the entity model and carry on the virtual assembly,check the interference situation,verify the installation dimensions of the working parts,carry out the kinematics analysis and solution to the picking robot,and establish the model of the robot through the Robotics Toolbox of the MATLAB,and carry out the work space based on the Monte Carlo method.The rationality of the structural parameters of the robot is verified by analysis and simulation.(3)Based on the advantages of RealSense remote view 3D depth fast recognition and location,a remote near view coordination control method based on RealSense information feedback is proposed,and the motion planning of the picking robot is studied based on the RealSense hand eye coordination control method.According to the strategy,path planning for picking posture and path points in the whole picking process is carried out.After comparing the trajectory planning method of the joint space and the Cartesian space,the spatial line trajectory of the five polynomial interpolation is selected as the working path of the manipulator,and the motion trajectory simulation is carried out.The simulation results show that the picking manipulator can be fast and stable.(4)The experimental platform of the picking robot in the laboratory environment is built,and the precision of the system and the precision of the remote near view coordination under the visual guidance are tested respectively.The experimental results show that the average error of the motion precision of the manipulator in the direction of X is 6.11 mm,the average error of the action precision in the direction of Y is5.04 mm,the direction of Z is 4.68 mm,and the end positioning error is 9.2mm.The manipulator can complete the hand eye coordination with the RealSense camera.The end positioning error of the visual servo control is reduced by 3.6mm.The average positioning accuracy in the direction of X,Y and Z is 3.51 mm,2.79 mm,and 3.35 mm,and the average time of the picking operation is 17.98 s.