The Design Of Automatic Hanging Control System Of Robot Based On Visual Guidance

Traditional spraying lines are dominated by manual hanging,which is highly repetitive and inefficient.The workpieces in the spraying production hall are mostly transported by suspension chains,which can lead to failure in the hanging of sprayed parts as the workpieces cannot be strictly positioned and have problems with tilting and skewing postures.In this paper,we design a vision-guided robot control system based on robot vision perception technology combined with robot motion planning to improve the efficiency of the spraying line.This paper is based on robot vision perception technology combined with robot motion planning to design a vision-guided robotic automatic under-hanging control system to improve the efficiency of the under-hanging of workpieces in the spraying line.The main focus is on the research of the method of estimating the position of sprayed parts based on point cloud data and robot motion planning,followed by the design and simulation of a visually guided robot underslung control system and its implementation.In order to solve the problem of deflection of sprayed parts during transportation,an online posture estimation method based on 2D image fusion depth information to generate 3D point clouds is designed.The real-time tracking of sprayed parts and image instance segmentation are performed by Mask-RCNN,the real-time 3D point cloud of target sprayed parts is obtained by fusing laser depth information,and the online posture estimation of sprayed parts is achieved by template matching method.A six-degree-of-freedom industrial robot is used as the research object for kinematic planning.The D-H parametric model of the robot is established and its forward kinematics,inverse kinematics and workspace are analysed.Linear interpolation combined with circular interpolation is used in Cartesian space to achieve robot end-effector trajectory planning.By comparing and analysing four different robot joint velocity profiles,the robot joint spatial motion trajectory is designed using a fifth polynomial interpolation method,which improves the smoothness of the robot joint motion.A vision-guided robot under-hanging control system design method is proposed.The robot joints are then controlled by a PID control algorithm,which controls the robot joints to follow the planned trajectory.Simulations were carried out based on CoppeliaSim in conjunction with Simulink.The results show that the robot can be guided by visual information to complete the hanging action in the face of the sprayed parts,and that the motion trajectory of each joint is reasonable.The results of the field experiments show that the designed control system can achieve the hanging of workpieces in the spraying line,which is of practical significance for improving the efficiency of the flexible production line.