To realize the automatic capture and positioning of segments,a depth-image vision sensor is explored based on a 1P5R single-arm erector.The performance of a binocular three-dimensional(3D)sensor and a planar-structured light 3D sensor is compared and analyzed.The depth images captured by the vision sensor are matched with a segment model to determine the segment position and attitude.The hand-eye calibration of the vision sensor and segment erector is conducted to obtain the conversion matrix between their respective coordinate systems.The forward and inverse kinematics of the single-arm erector are derived using the robotic kinematics method.Six-axis travel required for grasping segments is realized by inverting the position and attitude of the segment,and a trajectory-planning algorithm is developed from the current six-axis travel to the target travel.Research and laboratory experiments reveal the following:(1)Position and attitude can be effectively obtained using the depth-image sensor and calibration.(2)The forward and inverse kinematic solutions can effectively guide the erector to realize automatic segment grasping using the position and attitude information.
depth-image vision sensorsegment erectorforward and inverse kinematic solutionstrajectory-planning algorithmtransformation matrix
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