摘要
传送带跟踪功能是工业机器人最典型的应用,在喷涂、3C、上下料等行业均有广泛的应用。主要以直线传送带跟踪为研究对象,通过编码器的位置反馈信息,计算出物品坐标系在机器人基坐标系下的实时矩阵表示,通过改进的跟踪算法,实现从追踪到跟踪同步的功能。实验结果表明:机器人在位置模式下,通过该算法,TCP末端能快速追踪上物品,并实时同步传送带上的物品,最终实现对目标的动态跟踪抓取。
The conveyor belt tracking function is the most typical application of industrial robots,widely used in spraying,3C,loading and unloading industries.Taking linear conveyor belt tracking as the research object,the real-time matrix representation of the object coordinate system under the robot base coordinate system was calculated through the position feedback information of the encoder,the synchronization function from tracking to tracking was realized through the improved tracking algorithm.The experimental results show that in the position mode,the TCP terminal can quickly track and synchronize the items on the conveyor belt real time,the dynamic tracking capture of the target is realized.
作者
李雪锋
庄健培
高燕
吴科龙
LI Xuefeng;ZHUANG Jianpei;GAO Yan;WU Kelong(SINOMACH Intelligent Technology Co.,Ltd.,Guangzhou Guangdong 510700,China;Guangdong Provincial Enterprises Key Laboratory Foundation about Mid-High-end Industrial Robot Technology,Guangzhou Guangdong 510700,China)
出处
《机床与液压》
北大核心
2021年第17期65-67,73,共4页
Machine Tool & Hydraulics
基金
广东省中高端工业机器人技术企业重点实验室项目(2018B030323027)。
