基于视觉反馈的机器人末端轨迹跟踪控制研究

Research on Robot End Tracking Control Based on Visual Feedback

工业机器人受机械本体间隙误差及外界干扰,在进行焊接、喷涂等工作时难以精确跟踪期望轨迹,严重影响工作效率和质量。根据视觉反馈控制原理,提出一种基于视觉反馈的末端位置动态补偿方法,设计视觉及末端执行器补偿机构,通过高速相机检测机械臂末端与期望轨迹的图像位置偏差,利用末端执行器进行位置补偿,可以快速高精度跟踪期望轨迹。通过实验对提出的方法进行验证,结果表明即使有外界干扰的情况下,机器人末端的跟踪误差最大为1.45 mm,显著提高了轨迹跟踪精度和跟踪速度,满足工业机器人末端快速、高精度的轨迹跟踪工况要求。

Due to the gap error of the machine body and external interference,it is difficult for industrial robot to accurately track the desired trajectory in welding,spraying and other work,which seriously affects the work efficiency and quality.According to the principle of visual feedback control,a dynamic compensation method of end position based on visual feedback was proposed.The compensation mechanism of vision and end effector was designed.The image position deviation between the end of manipulator and the desired trajectory was detected by high-speed camera,and the position compensation was carried out by end effector,which can track the desired trajectory quickly and accurately.Finally,the proposed method was verified by experiments.The results show that the tracking error of the robot end is only 1.45 mm even if there is external interference,which greatly improves the trajectory tracking accuracy and tracking speed,and meets the requirements of fast and high-precision trajectory tracking of industrial robot end.