Research On The Trajectory Planning Of Manipulator Based On Binocular Vision

With the popularization of industrial automation,industrial robots are widely used in the fields of automobile manufacturing,military industry,aviation manufacturing and medical equipment.Most of the manipulator control methods are pre-programmed offline to control its work in the teaching and reproduction mode,which is difficult to adapt to complex and changing working environments.This paper studies a method of manipulator motion trajectory planning based on an improved ant colony optimization algorithm.Observe obstacles in the working environment through binocular vision,and run an improved ant colony optimization algorithm in a multi-obstacle space to plan the trajectory of the manipulator,then through the kinematic analysis of the manipulator and the simulation of the movement of the manipulator in the ROS operating system,which will verify the effectiveness of the trajectory planning and reduce collision accidents of the manipulator.The research in this paper aims to solve the motion control problem of the robot arm under complicated working conditions,and improve the degree of automation and intelligence of industrial robots.A multi-degree-of-freedom adjustment and support structure for a binocular vision camera is designed and manufactured.Use binocular vision to capture the scene of the working space,and through the stereo calibration,stereo matching,and three-dimensional coordinate calculation of the scene of the binocular camera to 3D reconstruct the object field model of the manipulator to obtain the accurate position,geometric relationship and contour information of the obstacle.And enhance the 3D scene information to make it visual.The 3D object field information obtained by the binocular vision camera is rasterized to establish a grid map,and the trajectory planning of the manipulator is completed on the map by the ant colony algorithm.The B-cubic spline curve is used to fit and interpolate the planned trajectory,which makes the trajectory smooth and optimized,eliminates jumping points,and reduces the impact on the joints of the manipulator as it moves along the trajectory.The D-H parameter analysis is performed on the manipulator to determine the mutual transformation relationship between Cartesian space and joint space.For the trajectories planned by the ant colony optimization algorithm,perform MATLAB simulation analysis of 3D spatial trajectories and joint spatial trajectories;Move It software,an application function in the ROS operating system,is used to perform simulation analysis in the Rviz environment,to perform collision detection between the manipulator and obstacles,so as to reduce the collision accident of the robot arm.Set up a manipulator motion control system and conduct experiments.The results show that the binocular vision system can more accurately extract the three-dimensional information of the object field,Based on the ant colony algorithm's motion trajectory optimization method,a smooth obstacle avoidance trajectory can be planned and collision of manipulator can be avoided.The method proposed in this paper can achieve manipulator trajectory planning and collision-free motion of the manipulator in multiple obstacles.