基于PatMax视觉引导的机械臂末端轨迹规划与控制
Robot Arm End Trajectory Planning and Control Based on PatMax Visual Guidance
陈策博 1万琴 1苏宏博 2刘波1
作者信息
- 1. 湖南工程学院 电气与信息工程学院,湘潭 411100
- 2. 湖南中南智能装备有限公司,长沙 410117
- 折叠
摘要
该文旨在介绍一种基于PatMax视觉引导的机械臂末端轨迹规划与控制方法.该系统主要是利用了美国Cognex公司旗下的VisionPro机器视觉开发软件,开发环境为C#语言环境,主要完成了视觉定位系统硬件设计、3D相机的预处理采集及校准和图像定位等核心工作.首先利用了视觉传感器来采集目标物体的姿态和位置信息,并采用PatMax算法对目标物体进行识别和定位.不同于传统方法,该方法采用了2D到3D的图像数据转换成点云数据,从而实现了无需人工示教.该方法具有高精度和稳定性,并且可以实现机械臂末端轨迹规划和控制.通过PatMax算法,该系统可以达到2 mm图像定位精度.该精度下的机械臂轨迹规划和控制在实际工业,特别是机器人领域中有着重要的应用价值.
Abstract
This paper aims to introduce a method of terminal trajectory planning and control based on PatMax vision guidance.This system is mainly made use of VisionPro machine vision development software of Cognex company in C# language development environment,mainly completed the visual positioning system hardware design,3D camera pre-processing acquisition and calibration and image positioning and other core work.Firstly,use the visual sensor to collect the attitude and position information of the target object,and adopt the PatMax algorithm to recognize and lo-cate the target object.Different from traditional methods,this method uses 2D to 3D image data to convert to point cloud data,thus realizing no manual instruction.This method has high precision and stability,and can realize trajec-tory planning and control of manipulator end.Through the PatMax algorithm,the system can reach 2 mm image posi-tioning accuracy.The trajectory planning and control of manipulator with this precision has important application val-ue in the practical industry,especially in the field of robot.
关键词
PatMax/视觉定位/机器视觉/手眼标定Key words
PatMax/visual positioning/machine vision/hand-eye calibration引用本文复制引用
出版年
2024
NETL
NSTL
维普
万方数据