摘要
在制造业转型升级中,工业模具智能制造机器人是智能制造生产线的重要组成部分。以智能制造中最具有代表性的设备即工业机器人为研究对象,提出新的机器人高精度抓取方法。标定相机,通过校正相机镜头获得工业模具智能制造机器人和目标点信息,规划工业模具智能制造机器人的抓取轨迹,并确定抓取点位置。基于此,构建自适应协调控制器,结合抓取轨迹和目标抓取点,构建自适应协调控制模型,实现工业模具智能制造机器人的高精度抓取。仿真结果表明,对于机器人的不同关节点,提出方法的抓取精度均较高,且机器人末端抓取路径较短,验证了提出方法具有更高的效率。
In the transformation and upgrading of the manufacturing industry,the intelligent robot is an important part of the intelligent production line.Taking the most representative equipment in intelligent manufacturing as a research object,this paper puts forward a high-precision grasping method.Firstly,the camera was calibrated.And then,the information of the intelligent robot of industrial mold making and target point was obtained by correcting the camera lens.Secondly,the grasping trajectory of the robot was planned.Meanwhile,the position of the grasping point was determined.On this basis,an adaptive coordination controller was designed.Combined with the grasping trajectory and target grasping point,an adaptive coordination control model was constructed.Finally,the high-precision grasping for the intelligent robot was achieved.Simulation results show that the proposed method has high grasping accuracy for different joints of the robot and a short grasping path at the end,with higher efficiency.
作者
武宁宁
李杨
WU Ning-ning;LI Yang(School of Mechanical and Automotive Engineering,Qingdao University of Technology,Linyi Shandong 273400,China)
出处
《计算机仿真》
北大核心
2023年第3期431-435,共5页
Computer Simulation
基金
青年基金项目(ZR2021QE289)。
关键词
工业模具智能制造机器人
相机标定
抓取轨迹
自适应协调控制器
高精度抓取
Intelligent robot for industrial mold making
Camera calibration
Grasping trajectory
Adaptive coordination controller
High-precision grasping
