基于PatMax视觉引导的机械臂末端轨迹规划与控制  

Robot Arm End Trajectory Planning and Control Based on PatMax Visual Guidance

作　　者：陈策博 万琴 苏宏博 刘波[1] CHEN Cebo;WAN Qin;SU Hongbo;LIU Bo(College of Electrical and Information Engineering,Hunan Institute of Engineering,Xiangtan 411100,China;Hunan Central South Intelligent Cquipment Co.,Ltd.,Changsha 410117,China)

机构地区：[1]湖南工程学院电气与信息工程学院,湘潭411100 [2]湖南中南智能装备有限公司,长沙410117

出　　处：《自动化与仪表》2024年第1期84-88,共5页Automation & Instrumentation

摘　　要：该文旨在介绍一种基于PatMax视觉引导的机械臂末端轨迹规划与控制方法。该系统主要是利用了美国Cognex公司旗下的VisionPro机器视觉开发软件,开发环境为C#语言环境,主要完成了视觉定位系统硬件设计、3D相机的预处理采集及校准和图像定位等核心工作。首先利用了视觉传感器来采集目标物体的姿态和位置信息,并采用PatMax算法对目标物体进行识别和定位。不同于传统方法,该方法采用了2D到3D的图像数据转换成点云数据,从而实现了无需人工示教。该方法具有高精度和稳定性,并且可以实现机械臂末端轨迹规划和控制。通过PatMax算法,该系统可以达到2 mm图像定位精度。该精度下的机械臂轨迹规划和控制在实际工业,特别是机器人领域中有着重要的应用价值。This paper aims to introduce a method of terminal trajectory planning and control based on PatMax vision guidance.This system is mainly made use of VisionPro machine vision development sofware of Cognex company in C#language development environment,mainly completed the visual positioning system hardware design,3D camera pre-processing acquisition and calibration and image positioning and other core work.Firstly,use the visual sensor to collect the attitude and position information of the target object,and adopt the PatMax algorithm to recognize and locate the target object.Different from traditional methods,this method uses 2D to 3D image data to convert to point cloud data,thus realizing no manual instruction.This method has high precision and stability,and can realize trajectory planning and control of manipulator end.Through the PatMax algorithm,the system can reach 2 mm image positioning accuracy.The trajectory planning and control of manipulator with this precision has important application value in the practical industry,especially in the field of robot.

关 键 词：PatMax 视觉定位 机器视觉 手眼标定 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置] TP275[自动化与计算机技术—控制科学与工程]