Visual anti-collision control method for industrial robot arm

An industrial robot and visual anti-collision technology, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as limited vision of manipulators, mistakes and safety accidents

Active Publication Date: 2018-07-06
CENT SOUTH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

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  • Visual anti-collision control method for industrial robot arm
  • Visual anti-collision control method for industrial robot arm

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Embodiment Construction

[0066] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0067] like figure 1 Shown, a kind of industrial robot arm visual anti-collision manipulation method comprises the following steps:

[0068] Step 1: Construct the three-dimensional coordinate system of the working space where the manipulator is located;

[0069] Use the image acquisition area to cover the entire working space of the robot arm to grab the target object. The midpoint of the line connecting the left and right cameras of the binocular ZED camera is taken 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. According to the right-hand rule, the three-dimensional coordinate system of the working space of the manipulator is established;

[0070] Step 2: Construct the target recognition model of the object to be grasped based on...

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Abstract

The invention discloses a visual anti-collision control method for an industrial robot arm. The visual anti-collision control method for the industrial robot arm comprises the following steps of 1, establishing a three-dimensional system of coordinates of the working space where the mechanical arm is located; 2, establishing an Elman network based recognition model of a to-be-grabbed object target; 3, establishing an optimal mechanical arm grabbing path model based on a multinuclear support vector machine; 4, collecting the target image of the to-be-grabbed object in real time and identifyingobject category; and 5, determining the gravity center of the object based on the object category, obtaining the grabbing terminal coordinates, obtaining the optimal mechanical arm grabbing path, anddriving the mechanical arm to grab the object. By means of the method, an ideal trace that no collision is caused, the dynamic characteristic meets the margin requirement, and the trace length and movement time are short is figured out in a calculating mode for the mechanical arm to grab the target object, the production efficiency is greatly improved, meanwhile, the personnel cost is reduced, andbenefits are brought to factories.

Description

technical field [0001] The invention belongs to the field of mechanical arm control calculations, and in particular relates to a visual anti-collision control method for an industrial robot arm. Background technique [0002] With the advent of "Industry 4.0", the application of robotic arms in factories is becoming more and more extensive, and the efficiency and safety of the traditional working method of human-computer interaction in complex environments has attracted attention. 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 complet...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1666B25J9/1676
Inventor 李燕飞杨宇翔刘辉
Owner CENT SOUTH UNIV
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