摘要
在生产线物料搬运机械手末端控制过程中,不同节点分属不同坐标系,以同一坐标系为基础的控制体系容易导致控制过程出现径向畸变、控制精准度低、用时长等问题。为了解决这个问题,设计一种生产线物料搬运机械手的视觉引导自动定位控制方法。针对生产线物料搬运机械手连杆坐标系,生产线物料搬运机械手的视觉引导自动定位控制方法采用D-H法构建齐次变换矩阵,获得生产线物料搬运机械手末端执行的空间位置,并获得生产线物料搬运机械手末端的位置姿态。实验结果表明所提方法可以有效缩短生产线物料搬运机械手末端位置轨迹,提高自动定位控制效率和准确度。
In the end control process of the material handling manipulator on the production line,nodes belong to different coordinate systems,and the control system based on the same coordinate system results in radial distortion in the control process,low control accuracy,and time consuming.Hence,this paper designs a visual guided automatic positioning control method for material handling mainpulators in production lines.For the coordinate system of the connecting rod of the material handling manipulator in the production line,the visual guided automatic positioning control method of the material handling manipulator in the production line is used to construct a homogeneous transformation matrix.The spatial position of the end execution of the material handling manipulator on the production line is obtained.The position and posture of the end point of the material handling manipulator on the production line are obtained.The experimental results show that the proposed method effectively shortens the end position trajectory of the material handling manipulator in the production line,improves the efficiency and accuracy of automatic positioning control.
作者
朱红梅
潘美君
ZHU Hongmei;PAN Meijun(Electromechanical Teaching Department,Qinghai Vocational School of Industrial Technology,Xining 810021,China)
出处
《微型电脑应用》
2025年第7期31-34,38,共5页
Microcomputer Applications
基金
青海省科技项目(202065412003)。
