基于视觉跟踪的机器人复杂轨迹模拟再现  

The Simulation and Reconstruction of the Complex Robot Trajectories Based on Visual Tracking

作　　者：应再恩 平雪良 李正洋 蒋毅 陈盛龙 

机构地区：[1]江南大学机械工程学院,江苏无锡214122

出　　处：《机械设计与研究》2014年第1期39-41,46,共4页Machine Design And Research

基　　金：江苏省科技支撑计划资助项目(BE2011098);中央高校基本科研业务费专项资金资助项目(JUSRP51316B)

摘　　要：机器人示教是实现机器人轨迹跟踪的一种重要方法,其工作原理决定了机器人作业的效率及复杂轨迹跟踪的精度。文章在传统示教方法基础上提出了一种基于视觉跟踪的机器人复杂轨迹模拟再现方法,通过应用双目立体视觉三维测量技术跟踪并记录机器人示教手柄完成的随机的复杂的操作轨迹,对轨迹数据进行坐标转换、运动学逆解,计算机器人各关节的期望旋转角度值,并驱动机器人运动,实现示教手柄的复杂操作的复现。该方法能够实现任意操作的实时示教再现,操作简单,工作效率高,与传统的示教方法相比显著地降低了工业机器人对专业操作人员的依赖程度,广泛地拓展了机器人的应用范围,具有极其重要的应用价值。Robot teaching is an important method of robot trajectory tracking. Its working principle determines the efficiency of robot work and the accuracy of trajectory tracking. This paper presents a simulation and reconstruction method of the complex robot trajectories based on visual tracking which is on the basis of the traditional teaching method. The method first tracks and records the random and complex operation track by robot teaching handle based on Binocular stereo vision 3D Measurement Technology, then transforms the trajectories coordinates, solves inverse kinematics and calculate the rotation angle values of each robot joint expected. Finally, drives the robot to achieve the reproduction of the teaching handle＇s complex operations. Real-time teaching and playback any operations are possible by using the method. It can be simple operation and high efficiency. Comparing with the traditional teaching method, it significantly reduced the dependence of the industrial robots for professional operator. It can widely expand the scope of applications of the robot. It has an extremely important value.

关 键 词：视觉跟踪 复杂轨迹 模拟再现 机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]