基于双目视觉的机器人虚拟拖动示教技术的研究  

Research on Robot Virtual Drag Demonstration Technology Based on Binocular Vision

作　　者：詹文赞 徐赐军 杨金堂[1] 周诗洋[1] 余峰 ZHAN Wenzan;XU Cijun;YANG Jintang;ZHOU Shiyang;YU Feng(College of Mechanical and Automation,Wuhan University of Science and Technology,Wuhan Hubei 430081,China;School of Mechanical and Electrical Engineering,Hubei Polytechnic University,Huangshi Hubei 435003,China)

机构地区：[1]武汉科技大学机械自动化学院,湖北武汉430081 [2]湖北理工学院机电工程学院,湖北黄石435003

出　　处：《机床与液压》2022年第21期1-6,共6页Machine Tool & Hydraulics

基　　金：国家自然科学基金青年科学基金项目(51405145)。

摘　　要：针对工业机器人拖动示教技术可拓展性差及市场应用推广难等问题,基于双目视觉研究机器人虚拟拖动示教技术,降低机器人拖动示教成本。根据机器人末端姿态获取要求,设计基于双目视觉的末端姿态获取实验平台,并研究末端姿态获取方法。通过坐标变换技术研究机器人虚拟样机和末端执行器虚拟样机融合方法,实现ADAMS环境中机器人虚拟拖动示教模型的构建。以末端姿态数据设计虚拟模型驱动函数,研究机器人关节角度序列获取方法,实现机器人虚拟拖动示教轨迹再现。以毛笔为机器人末端执行器的实例验证了基于双目视觉的机器人虚拟拖动示教技术的可行性。虚拟拖动示教技术避免了复杂的机器人逆运动学求解问题,为机器人轨迹规划提供了便捷的方法。Aiming at the problems of poor scalability of industrial robot drag teaching technology and difficulty in market application promotion,based on binocular vision,the robot virtual drag teaching technology was studied to reduce the cost of robot drag teaching.According to the requirements of the robot terminal attitude acquisition,an experimental platform for acquiring the terminal attitude based on binocular vision was designed,and the method of acquiring the terminal attitude was studied.The fusion method of the virtual prototype of the robot and the virtual prototype of the end effector was studied through coordinate transformation technology,and the construction of the virtual drag teaching model of the robot in the ADAMS environment was realized.The virtual model driving function was designed based on the end posture data,the method of acquiring the robot joint angle sequence was studied,and the robot virtual drag teaching trajectory reproduction was realized.The example of using a brush as the end effector of the robot verifies the feasibility of the robot virtual drag teaching technology based on binocular vision.The virtual drag teaching technology avoids complex robot inverse kinematics solving problems and provides a convenient method for robot trajectory planning.

关 键 词：拖动示教 双目视觉 轨迹规划 运动学仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]