基于混合插值样条的智能装卸机械臂视觉避障轨迹控制  

Visual Obstacle Avoidance Trajectory Control of Intelligent Loading and Unloading Robot Arm Based on Hybrid Interpolation Spline

作　　者：韦江衡 李金瑾 庞智群 黄慧君 WEI Jiangheng;LI Jinjin;PANG Zhiqun;HUANG Huijun(Measurement Center of Guangxi Power Grid Co.,Ltd.,Nanning 530024,China)

机构地区：[1]广西电网有限责任公司计量中心,南宁530024

出　　处：《自动化与仪表》2024年第8期149-153,共5页Automation & Instrumentation

基　　金：广西电网公司科技项目(044400KK52230001)。

摘　　要：为解决在复杂环境中机械臂移动速度不均匀、动态碰撞冲突及轨迹不连续性的问题,该文提出基于混合插值样条的智能装卸机械臂视觉避障轨迹控制方法。基于采集的环境图像获取视差图,并对其展开二值化处理;在此基础上采用轮廓提取算法获得障碍物的轮廓和中心坐标,完成障碍物定位;利用改进后的TEB-VO算法展开智能装卸机械臂的避障轨迹控制,再采用混合插值样条对轨迹控制展开优化处理,在路径最大曲率约束条件下,提高轨迹控制的连续性。实验结果表明,所提方法避障轨迹平滑度高、控制效率高且适应性强。To solve the problems of uneven movement speed,dynamic collision conflicts,and trajectory discontinuity of robotic arms in complex environments,a visual obstacle avoidance trajectory control method for intelligent loading and unloading robotic arms based on mixed interpolation splines is proposed.Obtain disparity maps based on collected environmental images and perform binary processing on them.On this basis,the contour extraction algorithm is used to obtain the contour and center coordinates of the obstacle,and the obstacle localization is completed.Utilize the improved TEB-VO algorithm to develop obstacle avoidance trajectory control for intelligent loading and unloading robotic arms,and then use mixed interpolation splines to optimize the trajectory control.Under the constraint of maximum path curvature,the continuity of trajectory control is improved.The experimental results show that the proposed method has high smoothness of obstacle avoidance trajectory,high control efficiency,and strong adaptability.

关 键 词：混合插值样条 智能装卸机械臂 轨迹控制 障碍物定位 时间弹性带算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]