旋切智能定心上木机器人定心坐标求取的数学描述与试验

Mathematical Description and Experiment of Centering Coordinates Calculation for Peeling Intelligent Centering and Grasping Wood Robot

为了提高旋切单板出材率和合格率,基于单板旋切六点定心理论与方法,应用机器人技术与设计理论,研究开发了旋切智能定心上木机器人系统。结合机器人机构和传感检测系统,对六点定心点坐标求取的数学描述做了研究与实验。结合文中物理模型的数学描述,求取各定心点的坐标。结合摄像机、位移传感器获取的数据进行定心实验,获得四截面、六点定心的数据,定心结果满足小型定心机器人系统指标,从而验证所得的计算方法和采用模型的正确性。并对系统工作过程中可能产生的误差进行讨论,提出补偿方法。

In order to improve the volume reoovery and qualified rate of veneer peeling timber,based on the theory and method of veneer peeling six points centering,and the application of robot technology and design theory,the peeling intelligent centering grasping wood robot system was developed.Combined with robot mechanism and sensor detecting system,we did some research about the mathematical description of the six points centering coordinates calculation.Combined with the mathematical description of the physical model,we obtained the coordinates of each centering point.The centering experiment was carried out combined with the data from camera,displacement sensors,and the data of the four sections and six points centering were acquired.The centering results meet the indexes of the small centering robot system and validate the correctness of our calculation method and the model.The possible errors occurred during the system process were discussed,and the compensation method was put forward.