Research On Sorting Robot Trajectory Optimization And Visual Servo Technology

Industrial robots reflect the modernization of a country's industry,and are also a key technical means to realize intelligent manufacturing and enterprise transformation and upgrading in the new round of industrial revolution.The traditional sorting robot completes tasks through point-to-point motion,but the traditional robot arm has limitations such as high-speed motion,tremor,discontinuous motion through singular points,low target recognition error tolerance,and poor accuracy,which restrict the robot arm from becoming intelligent development of.Therefore,intelligent sorting poses a severe challenge to the traditional trajectory planning technology and target recognition technology of the robotic arm,and has high research value.This paper takes Mitsubishi's robotic arm as the research object and designs a sorting robot system based on visual servoing.First,use the D-H method to establish a mathematical model of the robotic arm and perform forward and inverse kinematics analysis.Use the Robotics toolbox in the Matlab environment to establish a 3D model of the robotic arm to verify the correctness of the solution.Secondly,the traditional robot trajectory planning is inefficient and does not run.For the problem of stability,a particle swarm algorithm that can dynamically adjust the learning factor is proposed.Through the particle swarm algorithm,time is used as the fitness function to improve the speed and stability of the robot arm;finally,a set of visual servo control based on neural network is constructed.The system omits the process of calculating image Jacobian matrix and robot Jacobian matrix and hand-eye calibration,simplifies the control algorithm,and accelerates the speed and accuracy of image processing.In this paper,a visual servo-based sorting robot system experiment is carried out on the FVRTS experimental platform.The experimental results show that the system designed in this paper has a better control effect than the traditional control method,and can effectively complete the target sorting work.The successful application of this system will greatly improve the efficiency,stability and positioning accuracy of sorting and identification in the industrial production process,reduce the waste of human resources,and well meet the production needs of enterprises.