Research On Trajectory Planning Of Robotic Arm Based On Vision

With the continuous advancement of technology and the continuous development of society,the robotic arm is widely used in various industries of automatic production.It is the most typical industrial robot in industrial production and application.The traditional robot arm obtains the position information of the target point in a relatively simple manner,and the trajectory planning effect is poor,so that during the operation of the robot arm,the occurrence of the jitter phenomenon is likely to occur,and the motion precision is low.Therefore,based on the need for image information acquisition processing and robot arm motion accuracy,vision-based robot arm trajectory planning research is very important.The main research content of this thesis consists of the following parts:1)For the derivation of the kinematic equation of the robot arm,the D-H(Denavit-Hartenberg)modeling method is used to establish the forward kinematics model,and the inverse kinematics model is deduced by algebraic method.The Matlab software is used to establish the 3D simulation model of the robot arm to verify the accuracy of the forward and inverse kinematic equations.2)For the information extraction problem of the target jigsaw puzzle image,the calibration of the vision system is first completed,then the two-dimensional maximum entropy threshold method for particle swarm optimization is proposed to segment the image.Then the improved Canny operator is used to detect the edge of the image.The image matches and extracts the desired target location information.3)Aiming at the multi-objective optimization problem in trajectory planning of manipulator,an improved non-dominated sorting genetic algorithm with elite strategy is proposed,and the improved algorithm has better convergence and distribution through simulation and verification of test function.4)A trajectory planning optimization scheme with the shortest moving time,smoothest trajectory and least energy consumption as objective functions is proposed,and the optimal value of the multi-objective function is obtained.The validity of the trajectory planning scheme proposed in this paper is verified by experimental analysis.