Mechanical arm machining track correction method based on three-dimensional vision

Abstract

The invention discloses a mechanical arm machining track correction method based on a three-dimensional vision. The method comprises the following steps: 1, compiling two teaching programs by a demonstrator, one teaching program being used for sensor scanning to acquire data, and the other teaching program being used for guiding a robot to perform machining work along a machining track; S2, starting a scanning program: if scanning is the first scanning, directly executing a processing teaching program, and if scanning is not the first scanning, acquiring point cloud data and registering the point cloud data with template point cloud data, and calculating translation vectors and rotation matrixes of two point cloud data sets; S3, correcting the teaching point positions in a teaching file byutilizing the translation vectors and the rotation matrixes calculated in the step S2 to generate a new teaching file, and transmitting the new teaching file to a robot controller; and S4, executing,by the robot, the corrected teaching file to complete machining.

Description

technical field [0001] The invention belongs to the field of industrial application of manipulators, in particular to a three-dimensional vision-based machining trajectory correction method of manipulators. Background technique [0002] With the advancement of technology and the rapid development of sensor precision, the visual perception ability of robots has become an important indicator to measure the degree of intelligence of robots. The continuous progress of three-dimensional vision makes the visual perception ability of the robot stronger and stronger. It has the advantages of non-contact, high precision and high efficiency. Before traditional industrial robots perform repetitive tasks, the operator needs to program the path and trajectory of the robot's movement point-to-point. This method is more intuitive, but time-consuming and labor-intensive. In addition, if the position of the workpiece changes, the teaching point needs to be recalibrated. Even if the position...

AI Technical Summary

Problems solved by technology

Before traditional industrial robots perform repetitive tasks, operators need to program the path and trajectory of the robot's movement point-to-point. This method is more intuitive, but time-consuming and labor-intensive

In addition, if the position of the workpiece changes, the teaching point needs to be recalibrated. Even if the position change is relatively small and difficult to detect (for example, 2-3mm), the deviation will directly affect the final product processing quality and cause economic losses.

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