摘要
冗余度装配式机械手的灵活性和适应性为制造业带来了巨大的变革,传统的机械臂和机器人往往依赖于精确的标定和模型,但由于冗余度装配式机械手作业场景复杂多变,导致传统依赖于相机标定的视觉伺服控制方法难以保障实际控制精度。基于此,提出冗余度装配式机械手无标定动态视觉伺服控制方法。实验结果表明,所设计方法控制下冗余度装配式机械手在笛卡尔空间中的运动轨迹趋于理想的运行轨迹,验证了该方法具有较高的视觉伺服控制精度。
The flexibility and adaptability of redundant assembly manipulators have brought great changes to the manufacturing industry.Traditional robotic arms and robots often rely on accurate calibration and modelling,but due to the complexity and variability of the operating scenarios of redundant assembly manipulators,it is difficult to guarantee the actual control accuracy of the traditional visual servo control method that relies on the calibration of the camera.Based on this,a dynamic visual servo control method without calibration is proposed for redundant assembly manipulators.The experimental results show that the motion trajectory of the redundancy assembly manipulator in Cartesian space under the control of the design method tends to the ideal operation trajectory.
作者
丁力
洪凯达
胡天恩
Ding Li;Hong Kaida;Hu Tian’en(Ningbo Haitian Intelligent Union Technology Co.,Ltd.,Ningbo Zhejiang 330200,China)
出处
《机械管理开发》
2025年第5期290-292,共3页
Mechanical Management and Development
