Robot Trajectory Tracking Control Method Based on Vision Guidance

Abstract

The invention relates to a robot trajectory tracking control method based on vision guidance, which includes establishing a robot visual servo control system; establishing a binocular vision unified measurement field; and obtaining the distance between the coordinate system of the end effector relative to the measurement coordinate system by using binocular vision equipment to observe The pose transformation relationship of the robot is converted to the robot base coordinate system through the binocular vision measurement field; the Kalman filter is used to smooth estimate the observed end-effector pose; the end-effector pose error is calculated; the fuzzy PID-based The visual servo controller processes the pose error to obtain the desired pose at the next moment, and sends it to the robot system to control the movement of the end effector. The invention is oriented to the field of flexible processing of aerospace large parts and the application requirements of high-precision processing equipment for robots. The position and posture of the end effector are sensed in real time by a visual sensor to form a closed-loop feedback system, which greatly improves the trajectory motion accuracy of a six-degree-of-freedom serial robot.

Description

technical field [0001] The invention belongs to the technical field of robot trajectory tracking control, and in particular relates to a vision-guided robot trajectory tracking control method. Background technique [0002] In recent years, industrial robots have become more and more widely used in the aerospace field due to their advantages of high flexibility, low cost, and high workspace / floor area ratio. However, the processing and assembly of large aircraft parts in the aerospace manufacturing industry are often High precision is required. The current robot performs processing operations according to the preset motion trajectory. Due to the low overall precision of the robot, it is difficult to guarantee the processing accuracy and surface quality. Therefore, a high-precision trajectory tracking control method for robots is needed. [0003] The invention patent with the notification number CN106671103A discloses a milling robot control method and system, which uses a la...

AI Technical Summary

Problems solved by technology

The laser head of the laser tracker can only emit one beam of laser light, which scans the target balls installed on the end effector in sequence to obtain the position information of all target balls, and can solve the attitude of the end effector. When the end effector moves, it needs to consider each The acquisition time of the position information of each target ball, and the time difference in the acquisition of the position information of each target point, so there is a principle error, the measurement frequency is limited, and the real-time performance is poor.

Not only that, in complex working conditions, once the laser is blocked, it cannot continue to track the target ball, and cannot continue to measure

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