Intelligent calculation method for mechanical arm movement planning group

A technology of swarm intelligence and motion planning, applied in the direction of instruments, adaptive control, control/regulation systems, etc., can solve problems such as error safety accidents and limited vision of robotic arms

Active Publication Date: 2018-06-22
CENT SOUTH UNIV
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AI Technical Summary

Problems solved by technology

The above two manipulator control methods can only complete the cycle of fixed working conditions, and cannot cope with changes in working conditions. For the existing manipulator operation, the field of view of the manipulator is limited through the monitoring device, and the operator is very pro

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  • Intelligent calculation method for mechanical arm movement planning group
  • Intelligent calculation method for mechanical arm movement planning group
  • Intelligent calculation method for mechanical arm movement planning group

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[0077] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0078] like figure 1 As shown in the figure, a swarm intelligence computing method for robotic arm motion planning includes the following steps:

[0079] Step 1: Build the 3D coordinate system of the workspace where the robotic arm is located;

[0080] Use the image acquisition area to cover the entire workspace of the robotic arm to grab the target object. The midpoint of the left and right cameras of the binocular ZED camera is used as the origin, and the line connecting the center of the right camera of the binocular ZED to the center of the left camera of the binocular ZED is the positive y-axis. The three-dimensional coordinate system of the working space of the manipulator is established according to the right-hand rule;

[0081] Step 2: construct a target recognition model of the object to be grasped based on the fuzzy neural network;

[0082] T...

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Abstract

The invention discloses an intelligent calculating method for a mechanical arm movement planning group, which comprises the following steps: step 1, constructing a three-dimensional coordinate systemof the working space of the mechanical arm; step 2, constructing a target recognition model of an object to be captured based on the fuzzy neural network; step 3, constructing a mechanical arm based on the limit learning machine to grab an optimal path model; step 4, acquiring object image recognition object categories to be captured in real time; step 5; determining the center of gravity of the object based on the object category, obtaining the coordinate of the grabbing end point, acquiring the optimal path of the mechanical arm, and driving the mechanical arm to grab the object; The methodadopts an intelligent algorithm to calculate an ideal track with free collision, dynamic characteristic meeting allowance requirements and short track length and time for a mechanical arm grabbing target object, it greatly improves the production efficiency, saves the personnel cost and brings benefits to the factory.

Description

technical field [0001] The invention belongs to the field of manipulator control calculations, in particular to a group intelligent calculation method for manipulator motion planning. Background technique [0002] With the advent of "Made in China 2025", intelligent robots such as manipulators, AGVs, drones, etc. will undertake more and more work in the manufacturing environment. The existing mechanical arm can be controlled by the teaching pendant and the host computer. The teaching pendant control is to control the joints of the mechanical arm through the joystick and buttons on the teaching pendant, and then store the program after completing the predetermined working conditions; the host computer control It is programmed in the upper computer, which can complete the cycle of the predetermined working conditions. The above two manipulator control methods can only complete the cycle of fixed working conditions, and cannot cope with changes in working conditions. For the e...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 刘辉黄家豪李燕飞
Owner CENT SOUTH UNIV
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