Research On Trajectory Correction Technology Of Industrial Robot Based On Visual Perception

In most industrial robot applications,the robot's actions need to be specified through pre-teaching and offline programming,and the machining process simply repeats the preset actions.However,when the working environment or the position and size of the workpiece changes,the robot still operates according to the previously specified actions,which will increase the production workpiece error and affect the product quality.Visual guidance and positioning provide new ideas for solving the above problems.Industrial robots can grasp the changes of the working environment through the vision system,and adjust the predetermined motion trajectory to complete the task.When the line structured light is projected on the measured object,the inflection point will be generated when the laser line intersects the ridgeline of the object.Visual measurement is easy to obtain the two-dimensional coordinates of the inflection point,but for different coarse positioning workpieces,it cannot be guaranteed that the measured inflection point is on the ridgeline.Same location.In view of this problem,the research uses multiple line structured light vision sensors to measure the workpiece,and aims to estimate the pose of the measured workpiece with multiple measurement points.The main research contents are as follows:1)A multi-line structured light vision sensor is used to build a vision measurement guidance system,and analyzes in detail the three-dimensional attitude measurement problem when the object's components with different degrees of freedom change;2)Research on robot vision servo control model.Analyze the commonly used visual servo control model,and choose the appropriate visual servo control model according to the requirements of the project;3)The validity of the measurement scheme is verified through simulation and experiments,and the convergence of the guided algorithm is discussed.Matlab simulation and measurement experiments verify the effectiveness of the scheme;The measurement result is used as the system feedback to adjust the position of the stage.After adjusting the position 4 times,the error is basically stable at the position 0.08 mm from the 0 reference line,and the error converges;The system has high guidance accuracy.The curve fitting is performed after statistics of 100 correction experiments,and the expected guidance error is 0.386 mm.Figure 35;Table 9;Reference 51...