α-Shape算法双机器人协作工作空间研究  

The Study of Dual-Robot Cooperative Workspace Based on α-Shape 3d Reconstruction Theory

作　　者：朱良麒 丁力平[1] 陈文亮[1] 周志光 ZHU Liang-qi;DING Li-ping;CHEN Wen-liang;ZHOU Zhi-guang(School of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Jiangsu Nanjing 210016,China;Engineering Center,Jiangsu Leili Motor Co.,LTD,Jiangsu Changzhou 213011,China)

机构地区：[1]南京航空航天大学机电工程学院,江苏南京210016 [2]江苏雷利电机股份有限公司工程中心,江苏常州213011

出　　处：《机械设计与制造》2021年第10期267-271,278,共6页Machinery Design & Manufacture

基　　金：面向微电机的智能装配关键技术研发(BE2017062)。

摘　　要：机器人协作工作空间是机器人领域的研究热点,但同时也是技术难点。首先以集合形式给出了协作工作空间的定义,基于蒙特卡洛法分别得到主、从机器人工作空间的点云模型;分析了求交集法提取协作空间点的不足,并给出一种通过计算点与点距离并加入一定阈值的判断方法,有效的提取到了协作空间内的点云;运用α-Shape算法分别处理单机器人工作空间与协作工作空间点云数据,对工作空间进行了三维重建,同时给出了基于体积值的参数α的确定方法,并基于此获得了较好的重建效果。最后以六自由度转动关节机器人为例进行了计算和分析,验证了方法的有效性,为指导机器人协作相关技术奠定了重要的理论基础。Robot cooperative workspace is a research hotspot in robot field,but it is also a technical difficulty.First the definition of collaborative workspace is given in the form of collection,the monte carlo method is used to get the point cloud model of the master and slave robot workspace.Then the defect of intersection method to extract the collaborative space points is discussed,and a new method is proposed to search the points by calculating the distance between point and point and adding a certain threshold value,the point cloud in the collaborative space is extracted effectively;Theα-shapes algorithm is applied to the point cloud data processing of robot cooperative workspace,and the 3d reconstruction of the workspace is carried out.At the same time,the determination method of parameter based on volume value is given,and good reconstruction effect is obtained with the parameter.Finally,a six-dof rotatory joint robot is taken as an example for calculation and analysis to verify the effectiveness of the proposed method,which lays an important theoretical foundation for guiding robot cooperative technology.

关 键 词：机器人 协作工作空间 蒙特卡罗法 α-Shape 三维重建 

分 类 号：TH16[机械工程—机械制造及自动化]