基于视/力觉反馈的复合定位方法研究  

Research on Composite Positioning Method Based on Visual/Force Feedback

作　　者：陈锡文 CHEN Xiwen(Junan Tianying Environmental Energy Company,Linyi 276000,China)

机构地区：[1]莒南天楹环保能源有限公司,山东临沂276000

出　　处：《微型电脑应用》2022年第12期172-176,共5页Microcomputer Applications

摘　　要：视觉引导是机械臂的一种常用工作模式,具有结构简单、开发周期短、效率高的特点。然而对于高精度工件的装配而言,需要较高的相机分辨率,从而极大地增加项目预算。针对高精度工件的装配需求,提出了一种基于视/力觉反馈的复合定位方法。该方法分为粗引导和精定位2个阶段:在粗引导阶段,通过视觉系统将工件引导至基座平面的导向范围内;在精定位阶段,利用六维力传感器将工件移动至期望位置,从而完成装配。搭建了基于六轴机械臂的验证系统并进行了验证实验。结果表明,所提出基于视/力觉反馈的复合定位方法适用于高精度工件的装配。Visual-guided manipulator has the characteristics of simple structure, such as short development cycle and high efficiency. But it needs camera with high precision which is expensive. Aiming at the assembly requirement of high precision workpiece, a compound positioning method based on visual/force feedback is proposed. The method is divided into two stages, i.e., coarse guidance and fine positioning. In the coarse guidance stage, the workpiece is guided to the guidance range of the base plane through the visual system. In the fine positioning stage, the six-dimensional force sensor is used to move the workpiece to the desired position to complete the assembly. A verification system based on six-axis manipulator is built and verified. The results show that the proposed composite positioning method based on visual/force feedback is suitable for the assembly of high-precision workpieces.

关 键 词：机械臂 高精度 复合定位方法 

分 类 号：TH74[机械工程—光学工程]