缝合机器人三维曲面织物接缝提取及工艺协调

发布时间：2018-03-20 17:08

本文选题：手眼关系　切入点：点云　出处：《天津工业大学》2017年硕士论文　论文类型：学位论文

【摘要】：为提高复合材料预制件缝合机器人灵活性与加工柔性,针对缝合机器人自动路径规划问题,研究了基于三维光栅扫描技术的曲面复合材料缝合机器人视觉接缝提取技术。基于Eye-to-hand结构,将机器人、单边缝合末端与三维扫描设备组成手眼视觉系统,并利用三维扫描仪获得预制件点云数据,经过点云处理及自主规划算法,实现了对缝合机器人缝合位姿的求解,具体内容如下:首先对摄像机进行内外参数及双目结构参数的标定实验,并针对三维扫描摄像机视场固定的特点改进传统手眼标定方法,提出一种用于求解手眼关系矩阵的四点标定法,建立了机器人坐标系与摄像机坐标系的位姿映射关系。经过手眼关系标定,三维光栅扫描仪采样得到的缝合预制件点云数据可转化为机器人坐标系下点云数据坐标。然后通过点云特征提取算法对采集的预制件进行了接缝特征提取,并通过计算得到了接缝中心线,进而基于接缝特征提出了一种缝合机器人自主规划算法,采用三次多项式对接缝中心线进行空间曲线拟合,采用最小二乘法对缝合微切平面进行平面拟合,完成机器人操作空间前进矢量及接近矢量的计算。最后以自主规划的机器人路径点作为缝合工位,采用西门子PLC设计单边缝合装置缝针运动与机器人本体运动的协调控制系统。基于profibus现场总线通信技术,采用"一主多从"网络控制策略,完成各个设备之间的数据交换,进而达到控制目的。缝合实验结果表明,该系统可以满足实际缝合工艺要求。
[Abstract]:In order to improve the flexibility and processing flexibility of composite prefabricated stitching robot, the automatic path planning problem of suture robot was studied. The visual seam extraction technology of curved composite suture robot based on 3D grating scanning technology is studied. Based on Eye-to-hand structure, the hand-eye vision system is composed of robot, one-sided suture end and 3D scanning equipment. The prefabricated point cloud data are obtained by using 3D scanner. After point cloud processing and autonomous programming algorithm, the suture position and pose of the suture robot are solved. The main contents are as follows: firstly, the calibration experiments of internal and external parameters and binocular structure parameters of the camera are carried out, and the traditional hand-eye calibration method is improved in view of the fixed field of view of the 3D scanning camera. A four-point calibration method for solving hand-eye relation matrix is proposed, and the pose mapping relationship between robot coordinate system and camera coordinate system is established, which is calibrated by hand-eye relationship. The point cloud data obtained from 3D raster scanner can be transformed into point cloud data coordinates in robot coordinate system. The center line of the joint is obtained by calculation, and then an autonomous programming algorithm of the stitching robot is proposed based on the seam characteristics. The space curve fitting is carried out by using the cubic polynomial to connect the center line of the joint. By using the least square method to fit the sutured micro-tangent plane, the forward vector and the approaching vector of the robot operating space are calculated. Finally, the path point of the robot is used as the suture position. Siemens PLC is used to design the coordinated control system of sewing needle motion and robot body motion of one-sided suture device. Based on profibus fieldbus communication technology, the network control strategy of "one master multiple slave" is adopted to complete the data exchange between each device. The result of suture experiment shows that the system can meet the requirements of practical stitching process.
【学位授予单位】：天津工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP391.41;TP242

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