Research on Automatic Detection of Robot Robotic Arm Motion Trajectory Based on Binocular Vision
Research on an automated detection method for robot robotic arm motion trajectory based on binocular vi-sion,and plan the optimal motion trajectory for it.By using the theory of parallel optical axis,a stereo vision model is established to extract the color information of the grasping target of the robot robotic arm.The three-dimensional coordinates of the grasping target of the robot robotic arm are obtained through HSV threshold segmentation.The mo-tion trajectory of the robot robotic arm to the grasping target three-dimensional coordinates is detected through NURBS curves.The goal is to minimize the working time,joint acceleration,and average joint jump of the robotic arm,combined with the speed and acceleration of the joints angular acceleration motion constraint is used to optimize the trajectory of the robot manipulator,and the optimal trajectory of the manipulator is obtained by solving the genet-ic algorithm.The experimental results show that this method can achieve precise positioning of the target object,plan the optimal motion trajectory for the robotic arm,improve the efficiency and smoothness of the arm motion,reduce joint energy consumption,and achieve precise grasping of the target.
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