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喷涂机器人运动控制和视觉补偿
Alternative TitleMotion Control and Visual Compensation of Spraying Robot
李永杰1; 臧琛2; 邱继红3
Department其他
Source Publication机械设计与制造
ISSN1001-3997
2018
Issue12Pages:257-261
Contribution Rank3
Funding Organization国家自然科学基金项目(51175001) ; 内蒙古自治区自然科学资金项目(NJZC16540) ; 内蒙古自治区高等学校科学研究项目(2015B102)
Keyword六自由度 喷涂机器人 斜交手腕 运动学仿真 D-H法 视觉补偿
Abstract针对斜交腕六自由度喷涂机器人技术要点进行了分析,对运动控制算法进行了深入研究。首先,通过D-H法对机械臂构建了关节坐标系;其次,对喷涂机器人进行了运动学建模,分别从正、逆运动学两个方面对其进行了详细的运动控制描述;再次,通过数值迭代法对喷涂机器人的逆运动学进行了求解,严格控制了算法的精度和速度,并通过MATLAB绘图工具对算法的正确性和快速性;最后提出了一种基于图像边缘轮廓特征的手段来实现视觉补偿,凭借对多目标的分块处理实现对于工件三维空间信息的定位,引导喷涂机器人的喷涂作业,确保了喷涂机器人工作过程的精准性和迅速性。
Other AbstractThe key points of motion control of the six-DOF robot are analyzed,and the motion control algorithm is deeply studied. Secondly,the kinematics modeling of the spray robot is given,and the detailed motion control is described from the aspects of the forward and inverse kinematics. Secondly,the kinematics model of the spray robot is established. The spray robot’s inverse kinematics process is solved by numerical iterative method,and the algorithm’s accuracy and speed are strictly controlled. The correctness and fastness of the algorithm are obtained by the MATLAB drawing tool. At last,a method based on the edge contour feature is proposed. The method realizes the visual compensation,and realizes the positioning of the three-dimensional spatial information of the workpiece by the multi-target block processing,and guides the spraying operation of the spraying robot,thus ensuring the precision and promptness of the working process of the spraying robot.
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/23800
Collection其他
Corresponding Author李永杰
Affiliation1.乌海职业技术学院
2.内蒙古工业大学
3.中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
李永杰,臧琛,邱继红. 喷涂机器人运动控制和视觉补偿[J]. 机械设计与制造,2018(12):257-261.
APA 李永杰,臧琛,&邱继红.(2018).喷涂机器人运动控制和视觉补偿.机械设计与制造(12),257-261.
MLA 李永杰,et al."喷涂机器人运动控制和视觉补偿".机械设计与制造 .12(2018):257-261.
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