The Laser Cutting Path Vision-guided And Model Design

With the strategy of China Intelligent Manufacturing 2025 proposed,the traditional laser cutting industrial robots gradually can not meet the requirements of high quality,high efficiency and low cost,and more intelligent laser cutting robots are needed in the future.At present,the movement path input of laser cutting robot is usually taught by teaching method,that is,according to the specified path,the robot is artificially controlled to move along the specified path for teaching.This method is low efficiency and poor adaptability.In addition,in the process of robot development,the cost is often high.In order to improve the efficiency and adaptability of the laser cutting robot,the paper studies vision guidance technology,combined with machine vision,and proposes an adaptive threshold edge detection algorithm based on the neutrosophic set to obtain the trajectory required by the laser cutting industrial robot;To reduce development costs,based on the kinematic analysis of industrial robots,trajectory planning is studied,and the model is designed in SIMULINK,realizes laser cutting path vision-guided simulation experiment and conduct code generation experiment.The main contents of the thesis is summarized as follows:(1)The intelligent development of the industrial robot,the paper needs to install a set of vision system at the end of the industrial robot,using a high-definition CCD digital industrial camera,and through the MATLAB machine vision toolbox to complete the camera calibration experiment,to get the acquisition of industrial robot motion trajectory ready.(2)The visual-guided of the cutting path of the industrial robot applies the method of edge detection on the collected images to obtain the edge information of the object,and uses the bwboundaries function of MATLAB to save it as the trajectory to be done,and converts it by the calibration result of the camera to the world coordinate point of the motion trajectory required by the industrial robot.According to the problem of noise in the actual working environment,the accuracy and speed of the image processing algorithm can not reach a balance,so an adaptive threshold edge detection algorithm based on the neutrosophic set is proposed,and the corresponding experiments are made.(3)Based on the UR5 industrial robot,the kinematics and trajectory planning of the industrial robot are studied respectively according to the improved DH parameter modeling method,and the simulation and verification experiments are done on the Matlab platform to simulate the motion process of the industrial robot.(4)According to the overall design,the paper designs the model in the Simulink platform,and successfully runs the laser cutting path visual-guided simulation experiment to verify its feasibility and validity;and the related code generation experiments are carried out,based on the model.