Mechanical arm accurate path planning method based on man-machine cooperation and visual inspection

Abstract

The invention discloses a mechanical arm precise path planning method based on man-machine cooperation and visual inspection. The method specifically comprises the steps that an initial path of a workpiece to be machined is obtained based on a visual assistance algorithm, and tracking error calculation of an end effector is detected in real time; the operation path point deviation and interaction force data of the mechanical arm are obtained through bottom layer control design; according to the obtained tracking error, the mechanical arm operation path point deviation and the interaction force data, iterative learning is carried out according to a set spatial iterative learning algorithm updating rate to update a path; and the mechanical arm starts to track along the new path coordinates until the path tracking effect is acceptable, and the accurate coordinates of the workpiece machining path in the space are obtained. According to the method, the problems of high program design difficulty, large workload and the like caused by offline teaching programming can be avoided, and the problem that the machining path of the shielded part of the workpiece cannot be detected under a traditional visual method can also be solved.

Description

technical field [0001] The invention belongs to the technical field of intelligent mechanical equipment, and in particular relates to a precise path planning method for a robotic arm based on human-machine collaboration and visual inspection. Background technique [0002] In recent years, with the development of electronic hardware, image processing, artificial intelligence and other technologies, robot technology has been gradually introduced into the fields of home service, medical rehabilitation, fire prevention and disaster reduction, etc. The application of traditional robotic arms has also been greatly expanded and has begun to play a role For more complex processing and production and testing links. Path planning is the basic operation of robotic arm motion control, and there are different solutions for different path planning problems. In addition to the traditional direct programming idea, the existing path planning schemes mainly include teaching programming, visu...

AI Technical Summary

Problems solved by technology

[0011] This technology uses the method of machine learning to independently plan the path from the initial position to the target position. Similar to the existing technical solution 1, the learning calculation is very heavy, and real-time planning tracking cannot be realized; this solution is under the self-defined learning framework. , the planned path has a certain effect on obstacle avoidance, and can obtain a relatively optimal path to achieve the shortest distance, but it cannot accurately track a spatial path; path, it is necessary to redefine the position of the obstacle, there is no adaptive ability

[0012] Among the above technical solutions and technologies, teaching programming has the problem of large deviation and instability of path planning, technology 1 has the problem that path planning takes a long time and cannot handle unknown surfaces, and technology 2 has the problem of planning paths to achieve obstacle avoidance but cannot The problem of precisely following a desired path in space

Images