Research On Trajectory Planning Algorithm In Industrial Robot Based On Binocular Vision

Industrial robots are currently the most widely used robotic production equipment in smart factories,capable of sorting,handling,assembly,welding and other tasks.The development of industrial cameras has also become more and more mature,and the research on vision systems has gradually changed from two-dimensional to three-dimensional,and binocular vision technology has also become a research hotspot.For a mechanical system that imitates the human arm and a visual system that imitates the human eyeball,the fusion of the two will provide a more intelligent technology production equipment.This paper takes industrial robot trajectory planning algorithm based on binocular vision as the research object,which has important scientific and practical significance for the intelligent application of industrial robots.First,for a six-degree-of-freedom industrial robot,by analyzing the compositional relationship of its mechanism,a link coordinate system is established and a homogeneous coordinate transformation is established using the D-H method.Based on this,forward kinematics and inverse kinematics analyses are performed to provide the necessary conditions for subsequent trajectory planning.Next,according to the requirements of system design,the traditional trajectory planning of industrial robots is studied,its advantages and disadvantages are summarized,and the key links that need to be optimized are analyzed.To solve the multi-input multioutput calculation problem of inverse kinematics,the parameter set of the radial basis function neural network is optimized by particle swarm optimization,and an optimized the radial basis function neural network algorithm is proposed.The radial basis function neural network algorithm is applied to trajectory planning to solve the inverse kinematics of industrial robots.The theoretical principles and application methods of binocular vision technology were studied in depth to find out the feasibility of its application in the field of industrial robots.Calibrate the binocular camera according to the method provided by the VS2013 software and the Opencv database.After acquiring the image,the image is gray-scaled,and the median filtering method is used to perform noise reduction on the image.The stereo matching of binocular vision is carried out through a matching algorithm based on feature points,and the coordinate information of the working space of the industrial robot is obtained.Finally,based on the above research on industrial robots and binocular vision systems,a trajectory planning method for industrial robots based on binocular vision is proposed.In this method,polynomial interpolation calculation is performed regularly to obtain the actual motion trajectory curve.Through the work of hardware selection and control system design,the construction of the experimental platform was completed.The algorithm is verified by grabbing motion experiments.The experimental results show that the proposed algorithm is feasible and effective.