Research And Implementation Of Manipulator Control Algorithm For Infrared Vision Positioning

This project is aimed at the smelting process of magnesium metal,A set of manipulator slag-discharge device for magnesium smelting reduction tank has been designed to replace the manual slag-discharge,solving the safety hazard of manual operation and improving the smelting efficiency.This device is consists of an infrared vision positioning system and a six-degree-of-freedom industrial manipulator.The infrared vision positioning system is used to locate the position target slag,the end of the manipulator is controlled to move from the initial position to the target position to realize the slag-discharge action.The focus of this thesis is to realize the positioning of the manipulator to the target slag,so a set of infrared vision positioning system has been constructed by using infrared array sensor and CMOS camera to perform the structural calibration.The three-dimensional coordinates of the target slag are obtained by using the horizontal and vertical viewing angle component projection method of infrared array sensor and the structured light visual monocular positioning method,respectively.Compared with the experimental results,target positioning with structured light visual monocular positioning method is more accurate.Therefore,the results of this method can be used.The difficult point in this thesis is to solve the control algorithm of the slag-discharge of the manipulator.Its control algorithm is divided into two parts Trajectory planning and trajectory tracking.The trajectory planning algorithm uses a five-time Bezier curve as a transition between the straight line and the arc slag trajectory.The simulation results show that the end of the manipulator of the five-time Bezier transition is smoother and the velocity and acceleration can be continuous.The improved MPC trajectory tracking algorithm is used to servo control the joints of the manipulators,thus achieving trajectory tracking in the joint space.Simulation experiments show that the algorithm has strong robustness and anti-interference ability.The control algorithm was implemented on the REBot-V-6R type manipulator platform,which shows that the slagging action of the trajectory planning by the manipulator can be completed well.The practical problems in the production of magnesium smelting industry has been solved in this paper,and a certain reference value for the future investment of robots into the metallurgical field has been provided.