Motion Design And Analysis Of Intelligent Production Line Sorting Manipulator

With the disappearance of population dividend and the development of science and technology,the traditional manufacturing industry to intelligent production line transformation and upgrading has become an inevitable trend.With the guidance of vision,there are more and more scenes using industrial robots to build intelligent sorting platform.In this paper,the Dobot robot is used as the main part of the sorting line,and its DH model,forward kinematics and inverse kinematics are established.During the selection of the Cartesian coordinate system,the camera’s coordinate system is taken into account and both are calibrated to obtain the transformation matrix.As for the path selection,the obstacle avoidance links that may be encountered in the production line are analyzed and considered,and the artificial potential field method is used to avoid obstacles at the end of the actuator or between each connecting rod in the height space,and the MATLAB GUI is drawn.For trajectory planning,the conventional Polynomial interpolation approach,focusing on non-uniform B-splines for Dobot manipulator joint space trajectory planning,was introduced,the trajectory of joint space is more smooth than that of cubic and quintic spline interpolation.In the control aspect,LABVIEW SDK is used to carry out the secondary development of Dobot manipulator,build intelligent product line sorting platform,identify the target points needed by the camera,and locate the coordinates of the target points to feed back to the manipulator,the manipulator reaches the target point through the given coordinates of the camera,selects the fixed points in the space,carries on the reasonable path planning,after the manipulator grabs the target object,along the fixed track piles up,regarding the joint space,through the drop-down list in the SDK,we can select different joint space movement modes to form a complete experimental platform for product line sorting.