基于视觉的并联机器人守门控制技术研究

Research on the Defending Technology of Parallel Robot Controlling Based on Vision System

针对视觉技术在并联机器人上的应用特点,本文基于视觉传感器的二自由度Delta机器人的守门控制技术,提出了一种对运动目标的轨迹进行预判和定位的控制算法。通过视觉控制器对运动小球的视觉图像进行处理,从而获取运动坐标,并对目标进行轨迹预判和视觉跟踪,使机器人在目标位置准确拦截小球。同时,利用ST语言在运动控制专用软件Sysmac Studio中编写机器人的运动控制程序并进行3D仿真。仿真结果表明,该算法通过对目标物体提前匹配图像信息可快速定位并执行拦截,避免机械臂多余动作,提高了动作效率。该算法已成功应用到机器人小球对打比赛中,并获得了较好的效果。该研究对Delta机器人抓取运动目标具有一定的实用价值。

According to the characteristics of the vision technology in the application of parallel robot,this paper is aiming at the current practical application requirement of the technology of parallel robot interception.The motion control technology of defending in two degree of freedom Delta robot based on vision sensor is studied,and a control algorithm for trajectory prediction and location of moving objects is proposed,in this paper.Through the visual controller for moving ball visual image processing to obtain the moving coordinate and according to this,the goal is to predict the trajectory and visual tracking,so that the robot in the target position to intercept the ball accurately.The motion control platform of system is composed of NJ motion controller,FH vision controller and CCD camera of OMRON Company.And using the ST programming language on the preparation of motion control instructions in Sysmac Studio,3Dsimulation results show that the proposed algorithm can quickly locate and defend target object by matching the image information in advance,and avoid frequent movement of the robot arm and improve the efficiency of action.The algorithm has been successfully applied to the robot ball match,and won the first prize of OMRON cup about automation design of competition controlling and application in the country in 2015.The study of the Delta robot grasping moving object has a certain practical value.