基于视觉引导的直角坐标机器人轨迹规划研究  

Research on Coordinate Robot Trajectory Planning Based on Vision Guidance

作　　者：李浩[1] 卢军[1] 孙姝丽 LI Hao;LU Jun;SUN Shu-li(College of Mechanical and Electrical Engineering,Shaanxi University of Science&Technology,Xi′an 710021,China)

机构地区：[1]陕西科技大学机电工程学院

出　　处：《组合机床与自动化加工技术》2019年第12期65-69,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：陕西省科技厅自然科学基金项目(2016GY-049)

摘　　要：针对机器人在笛卡尔平面坐标系下的轨迹规划问题,提出一种基于视觉引导的轨迹规划算法。通过双弦与弦切误差约束条件筛选视觉获取的轨迹离散点,以修正弦长的弧长参数化Akima曲线拟合运动轨迹方程,基于改进的5段式S型速度规划实现任意给定轨迹的插补算法轨迹规划。在自主设计的直角坐标型机器人平台进行实验验证,结果表明:基于视觉引导的弧长参数化Akima轨迹曲线拟合程度高,误差波动小;改进的5段式S型速度规划,满足路径长度与运动速度约束条件,能够自动调整加加速度以缩短运动时间;验证了视觉引导轨迹规划算法的可行性,有效提高了轨迹质量。Aimed at solving the trajectory planning problem of robot in Cartesian plane coordinate system, an algorithm based on visual guidance is proposed.The trajectory discretization points obtained by vision were screened by bi-chord error test and tangent error test.The equation of motion trajectory was fitted by Akima curve with modified chord length parameterization.The interpolation algorithm trajectory planning for any given trajectory was realized by the improved five-stage S-curve velocity planning.The experimental results are verified by the self-designed Cartesian robot platform.The results show that the curve fitting degree of arc-length parameterized Akima based on visual guidance is high and that the error fluctuation is small.The improved five-stage S-curve velocity planning can satisfy the constraint conditions of path length and motion speed and automatically adjust jerk to shorten the motion time.The feasibility of the vision guided trajectory planning algorithm is verified and the trajectory quality is effectively enhanced.

关 键 词：视觉引导 Akima算法 S型速度曲线 误差测试 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]