基于AR技术的多关节机器人操作臂控制研究  

Research on Control of Multi-Joint Robot Manipulator Based on AR Technology

作　　者：张帅 王玉亮 ZHANG Shuai;WANG Yuliang(School of Fine Arts and Design,Chuzhou University,Chuzhou Anhui 239099,China;School of Computer and Information Engineering,Chuzhou University,Chuzhou Anhui 239099,China)

机构地区：[1]滁州学院美术与设计学院,安徽滁州239099 [2]滁州学院计算机与信息工程学院,安徽滁州239099

出　　处：《重庆科技学院学报（自然科学版）》2023年第4期80-85,共6页Journal of Chongqing University of Science and Technology：Natural Sciences Edition

基　　金：安徽省住房城乡建设科学技术计划项目“面向‘双碳’目标的长三角城市群绿地空间多尺度遥感评价和格局优化研究”(2022-YF107);安徽省滁州市科技计划项目“‘智慧感知+’精准滁菊核心技术创新研究”(2021ZD014)。

摘　　要：由于多关节机器人操作臂受到关节部位转动角度的限制,导致其运动控制性能较差,因此设计了一种基于AR技术的多关节机器人操作臂控制方法。基于AR技术获取操作臂动作重构过程中的动态特征,采用分割方法获取实时动作函数,对操作臂与待抓取物体图像进行预处理。限制与约束多关节操作臂的运动能力,利用操作臂关节位置的极限优化函数计算操作臂关节的位置、速度和力矩极限值,并以此构造总体优化函数,定义加权矩阵并确定关节位置与极限位置的距离。实验结果表明,该方法可以准确地抓取物体,具有较好的精度。The manipulator arm of multi-joint robot is limited by angle of joints,resulting in poor motion control performance.Thus a control method of multi-joint robot manipulator arm based on AR technology is designed.Based on AR technology,the dynamic features of the manipulator arm′s motion reconstruction process are obtained,and real-time action functions are obtained by using segmentation methods to preprocess the images of the manipulator arm and the object to be grasped.The motion ability of multi-joint manipulator arm is limited and constrained,and the speed limit and rotation torque limit of the manipulator arm joints are obtained by using the limit optimization function of joint position of manipulator arms.Based on this,the overall optimization function is constructed.Once the weighted matrix is defined and its distance from the limit position is determined,the manipulator control algorithm is obtained.Experimental results show that this method can grasp objects accurately and has good precision.

关 键 词：AR技术 多关节机器人 操作臂 极限速度 关节部位角度 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]