曲面复合材料缝合机器人自动路径规划技术

发布时间：2018-07-22 11:34

【摘要】：为提高复合材料预制件缝合机器人的灵活性与加工柔性,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.针对三维扫描摄像机视场固定的特点,对摄像机进行标定实验,改进传统的手眼标定方法,提出一种用于求解手眼关系矩阵的四点标定新方法,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的点云数据坐标.进一步对采集的预制件点云数据进行接缝中心线提取,提出了一种缝合轨迹及姿态规划算法,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,将规划结果应用于缝合机器人的离线编程仿真与实验中.实验结果表明,该系统精度高,线迹成型良好,可以满足机器人缝合系统的要求.
[Abstract]:In order to improve the flexibility and processing flexibility of the composite prefabricated stitching robot, aiming at the automatic path planning problem of the stitching robot, the visual seam extraction technology of the curved composite suture robot based on 3D grating scanning technology was studied. In view of the fixed field of view of 3D scanning camera, the camera calibration experiment is carried out to improve the traditional hand-eye calibration method, and a new four-point calibration method is proposed to solve the hand-eye relation matrix. The pose mapping relationship between robot coordinate system and camera coordinate system is established. After hand-eye calibration, the point cloud data obtained from 3D grating scanner can be converted into point cloud data coordinates in robot coordinate system. Furthermore, a suture trajectory and attitude planning algorithm is proposed for extracting the centroid of joint seam from the collected data of point cloud of prefabricated parts. The cubic polynomial is used to connect the center line of the seam to fit the space curve. 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 planning results are applied to the offline programming simulation and experiment of the suture robot. The experimental results show that the system can meet the requirements of the robot suture system.
【作者单位】：天津市现代机电装备技术重点实验室(天津工业大学);
【基金】：国家自然科学基金资助项目(U133128) 天津市科技支撑计划重点项目(15ZCZDGX00300) 天津市科技计划项目(14ZCDZGX00802)
【分类号】：TP242

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