[1]ZHAO Liming,LONG Dazhou,XU Xiaodong,et al.Binocular 3D laser scanning imaging-based industrial robot machining trajectory correction method[J].CAAI Transactions on Intelligent Systems,2021,16(4):690-698.[doi:10.11992/tis.202008008]
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Binocular 3D laser scanning imaging-based industrial robot machining trajectory correction method
CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume:
16
Number of periods:
2021 4
Page number:
690-698
Column:
学术论文—智能系统
Public date:
2021-07-05
- Title:
- Binocular 3D laser scanning imaging-based industrial robot machining trajectory correction method
- Keywords:
- machine vision; image processing; robot; intelligent manufacturing; sensors; 3D imaging; laser scanning; binocular vision
- CLC:
- TP242.2
- DOI:
- 10.11992/tis.202008008
- Abstract:
- In this paper, to improve the flexibility of industrial robot operations, an eye-to-hand (ETH) industrial robot end-effector (tool center point (TCP)) trajectory on-line correction method is proposed based on binocular charge-coupled device laser scanning three-dimensional (3D) imaging. Under the research background on the visual guidance of laser cutting robots, the aim of this study is to reduce the dependence of robots on the positioning accuracy of physical tools in the machining process. First, to improve the vision control accuracy of robots, research was performed on a method of accurately extracting the spatial point cloud coordinates of target workpieces based on binocular 3D laser scanning imaging. Then, an online compensation method for the relative deviation of robot TCP trajectories was established by combining ETH control characteristics and the scanning imaging system structure. The feasibility of the proposed method was verified by experiments, which lays a foundation for industrial applications.
- References:
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