基于图像处理的机器人柔性作业方法研究

摘要

The article developed a new method for the flexible operation of robot to obtain the outline of the product through image processing,and it can convert to the points of the manipulator coordinate system according to the order automatically.The fast iterative algorithm with cubic spline was used in the acceleration planning to ensure the smoothness of the manipulator path.To verify the experimental results,the topic designed a parallel robot based on the planar five-bar mechanism.%针对机器人柔性作业,提出了一种通过图像处理,获取产品轮廓边界的新方法,所取轮廓可自动按照一定的顺序形成机械手坐标系下的一系列轨迹点.为保证机器人在运行过程中轨迹的平滑性,采用了连续三次样条快速迭代的算法规划机器人的加速度曲线.在平面五杆机构的基础上设计了两自由度并联机器人,通过机械手所绘轨迹验证实验效果.