摘要
为提升机器人抓取精度,基于时延补偿机理设计工业机器人视觉跟踪控制系统。通过摄像机与机械臂之间的坐标系关系标定摄像机的外部参数;对工业机器人的运动情况进行建模,机器人机械臂在运动过程中产生坐标系变换,利用齐次坐标变换矩阵描述机械臂连杆运动位姿,引入模糊时延补偿算法,提高机械臂跟踪控制精度。系统性能测试结果表示:针对不同形状和位姿角度的物体,设计的系统在抓取过程中能够逐渐缩小误差,最终提高实验中的成功抓取次数,验证了设计系统的可靠性。
In order to improve the grasping accuracy of robot, the visual tracking control system of industrial robot is designed based on the time delay compensation mechanism. Which calibrates the external parameters of the camera through the coordinate system relationship between the camera and the mechanical arm;The motion of industrial robot is modeled, the coordinate system of robot arm is transformed in the process of motion, the homogeneous coordinate transformation matrix is used to describe the motion posture of linkage of robot arm, and the fuzzy time delay compensation algorithm is introduced to improve the tracking control accuracy of robot arm. The system performance test results show that the designed system can gradually reduce the error in the process of grasping objects with different shapes and postures, and finally improve the number of successful grasping in the experiment, which verifies the reliability of the designed system.
作者
张杨
何新君
ZHANG Yang;HE Xin-jun(College,Shanghai Urban Construction Vocational College,Shanghai 201415 China;SHANGHAI-FANUC ACADEMY,SHANGHAI-FANUC Robotics Co.,Ltd.,Shanghai 201906 China)
出处
《自动化技术与应用》
2022年第10期6-9,72,共5页
Techniques of Automation and Applications
关键词
时延补偿
工业机器人
视觉跟踪控制
系统设计
齐次变换
运动建模
delay compensation
industrial robot
visual tracking control
system design
homogeneous transformation
motion modeling
