基于边缘拟合和数字孪生的机器人运动控制系统研究  

Research on Robot Motion Control System Based on Edge Fitting Algorithm and Combination of Virtual Reality

作　　者：蔡秋生 张文典[2] 黄家才 吕金鑫 CAI Qiusheng;ZHANG Wendian;HUANG Jiacai;LYU Jinxin(School of Mechanical Engineering,Nanjing Institute of Technology,Nanjing 211167,China;Electrical Engineering Academy,Changchun Automobile Industry Institute,Changchun 130013,China)

机构地区：[1]南京工程学院机械工程学院,江苏南京211167 [2]长春汽车工业高等专科学校电气工程学院,吉林长春130013

出　　处：《南京工程学院学报（自然科学版）》2023年第4期64-70,共7页Journal of Nanjing Institute of Technology(Natural Science Edition)

摘　　要：提出一种基于边缘拟合和数字孪生的机器人运动控制系统.通过深度图像和RGB图像获取目标物体信息,并进行边缘提取,通过边缘拟合得到目标的边缘轮廓,根据其轮廓计算目标物体的中心点坐标,从而实现准确的目标识别与定位.采用数字孪生方法对机器人实时运行状态进行同步显示.试验表明该方法对圆形物体的识别与定位具有高准确性和鲁棒性,在数字孪生平台上运行具有可靠性与实时性,有一定的实用价值.In this paper,a robot motion control system based on edge fitting and digital twin is proposed.The target object information is obtained through the depth image and the RGB image,followed by edge extraction.The edge contour of the target is obtained through edge fitting,and the center point coordinates of the target object are calculated according to the contour,facilitating precise target recognition and positioning.At the same time,the digital twin method is used to synchronously display the real-time running status of the robot.Experimental results demonstrate the method's high accuracy and robustness in recognizing and positioning circular objects.The digital twinning platform ensures reliability and real-time performance of the robot motion control system,adding practical value.

关 键 词：六自由度机器人 边缘拟合 目标识别与定位 数字孪生 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]