Graph-oriented robot operation method
An operation method and robot technology, which is applied in the directions of instruments, image enhancement, image analysis, etc., can solve problems such as the inability to meet the development requirements of high-precision robots and multiple application occasions, the unfavorable upgrading of enterprise products, and the inability to adapt to changes immediately, etc., to achieve Save learning costs, solve partial occlusion interference, and avoid the effect of cumbersome process
Active Publication Date: 2018-05-08
HEFEI UNIV OF TECH
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Problems solved by technology
[0003] The usual process of traditional robot operation is to first understand the product process, programming language, and how to use the teach pendant, and then need operators with these skills to program. At the same time, when the process changes or the programming language changes, the programmer Not only does it have to be debugged on site, but it also cannot adapt to the changes immediately in a short period of time, which will have a negative impact on the upgrading of the company's products
[0004] Due to the cumbersome process, low precision, and high learning cost, the existing robot operation methods cannot meet the development requirements of future robots with high precision and multiple applications.
Method used
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[0044] In this example, if figure 1 As shown, a graphics-oriented robot operation method is applied in an operation environment composed of a robot, a computer and two binocular cameras, and is carried out as follows:
[0045] Step 1, under the MATLAB environment of computer, set up the graphics facing robot operation, the graphics are two-dimensional graphics based on MATLAB GUI platform or three-dimensional graphics based on binocular camera;
[0046] The two-dimensional graphics based on the MATLAB GUI platform is to use the get function to obtain the trajectory graphics of the mouse from the beginning of the movement to the end of the movement in the MATLAB environment, and save the trajectory graphics as a .mat file after coordinate conversion. Represent two-dimensional graphics;
[0047] The 3D graphics based on the binocular camera is established according to the following process:
[0048] Step A. Use the binocular camera to obtain M frames of images of the tracking ...
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The invention discloses a graph-oriented robot operation method. The method is characterized being applied in an operation environment which is formed by a robot, a computer and two binocular cameras,and comprising the following steps of: 1, establishing an operation graph; 2, carrying out fitting by adoption of a B spline algorithm; 3, optimizing the segmentation, converting the operation graphinto an impulse sequence and providing the impulse sequence to the robot to carry out execution; 4, obtaining a comparison graph; 5, carrying out error comparison; 6, modifying the impulse sequence and providing the impulse sequence to the robot to carry out execution; and 7, repeatedly executing the steps 4 to 6 so as to obtain a matched impulse sequence. According to the method, robot executiontrack graphs can be directly obtained through a graphical manner, and tracks are corrected through comparing the graphs, so that the robot operation process is simplified, the operation precision is improved, and the persons that do not understand motion control can use the robots easily.
Description
technical field [0001] The invention relates to the intersection field of machine vision and industrial robots, in particular to a graphics-oriented robot operation method. Background technique [0002] With the rapid development of society and the advancement of science and technology, robots are developing rapidly towards intelligence and efficiency. Facing the needs of the current era, traditional handicraft production lines have been replaced by more efficient flexible automated production lines, and industrial robots, which are widely used in them, are becoming more and more popular. [0003] The usual process of traditional robot operation is to first understand the product process, programming language, and how to use the teach pendant, and then need operators with these skills to program. At the same time, when the process changes or the programming language changes, the programmer Not only does it need to be debugged on site, but it also cannot adapt to changes imm...
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Login to View More IPC IPC(8): G06T19/00G06T7/246G06T7/285G06T7/292
CPCG06T19/003G06T2200/08G06T2207/10016G06T7/248G06T7/285G06T7/292
Inventor 李鑫赵坤鹏邱亚郝行猛黄钰笛
Owner HEFEI UNIV OF TECH