基于激光雷达的工业码垛机器人避障轨迹控制系统
Obstacle Avoidance Trajectory Control System for Industrial Palletizing Robot Based on Laser Radar
陈思敏1
作者信息
- 1. 佛山智能装备技术研究院,佛山 528234
- 折叠
摘要
针对提高机器人作业精度、实现空间障碍物规避及降低作业风险的需求,设计基于激光雷达的工业码垛机器人避障轨迹控制系统.根据系统设计需求,进行激光雷达传感器、运动控制器的选型,在硬件的支撑下,引进运动学模型,实现工业码垛机器人的运动建模;通过发射激光束并测量其反射回来的时间,计算与障碍物的距离,实现空间障碍物的探测;根据机器人的当前位置,设定其安全阈值,实现避障轨迹的控制.对比实验结果表明:提出的避障轨迹控制系统在避障能力和安全距离保持方面均优于两个对照方法,为工业码垛机器人的安全、高效运行提供了有力的保障.
Abstract
A laser radar based industrial palletizing robot obstacle avoidance trajectory control system is designed to meet the needs of improving robot operation accuracy,achieving space obstacle avoidance,and reducing operation risks.According to the system design requirements,select laser radar sensors and motion controllers,introduce kinematic models with hardware support,and conduct motion modeling of industrial palletizing robots;By emitting a laser beam and measuring its reflection time,the distance to the obstacle is calculated to detect spatial obstacles;Based on the current position of the robot,set its safety threshold and control the obstacle avoidance trajectory.The comparative experimental results show that the proposed obstacle avoidance trajectory control system outperforms the two control methods in terms of obstacle avoidance ability and safe distance maintenance,providing strong guarantees for the safe and efficient operation of industrial palletizing robots.
关键词
激光雷达/硬件设备/轨迹控制/避障/工业码垛机器人Key words
laser radar/hardware equipment/trajectory control/obstacle avoidance/industrial palletizing robot引用本文复制引用
出版年
2024
NETL
NSTL
万方数据