Research On Motion Control Technology Of FANUC Robot Intelligent Grasping System

With the vigorous development of machine vision technology and artificial intelligence technology,intelligent robots with vision,touch and walking have been put into practical use and have been promoted.Advances in technology have prompted industrial robots to have stronger environmental discrimination capabilities,adaptability and other characteristics,so as to facing the unknown and uncertain complex environment.The goal of this thesis is to develop a system based on the intelligent handling of industrial robots and replace the traditional teaching methods.The article provides a solution that uses FANUC M-10 i D industrial robot as a carrier to combine machine vision technology and robotic technology to achieve the task of grasping workpieces.Therefore,a robot motion control system based on machine vision is proposed.The main research contents are as follows:First of all,the overall analysis of the experiment is carried out,and the design scheme based on the workpiece grasping system is proposed.The research content of this system is divided into three parts: three-dimensional reconstruction,robot kinematics and software design,and the software and hardware components of the experimental platform are introduced in detail.Secondly,research on surface structured light 3D reconstruction technology and robot kinematics.The principle of camera calibration is analyzed,and the conversion process from the pixel coordinates of the picture to the world coordinates of the robot is deduced in detail.Then use Zhang Zhengyou's calibration method for camera calibration and MATLAB camera toolbox for calibration test to calculate the internal and external parameters of the camera.The steps of surface structured light 3D reconstruction based on the four-step phase shift method are introduced in detail.The 3D information of the grasping system is obtained by using MATLAB to calculate the 3D information of the system,which provides navigation for the robot movement.At the same time,according to the body structure of the FANUC M-10 i D industrial robot,the D-H parameter method is used to establish the mathematical model of the robot,and the forward and inverse kinematics solutions are obtained and simulated and verified in MATLAB to analyze the robot's kinematics.Then use ROBOGUIDE software for FANUC M-10 i D robot motion control design and simulation verification.Finally,the grasping system is built to control the robot movement.The workpiece coordinates are estimated and converted into actual pose parameters according to the parameters obtained by camera calibration and 3D reconstruction.The grasping task of the target workpiece is completed by sending the target position on the QT visual interactive interface,with a precondition of the robot grasping path program implemented by ROBOGUIDE software.