A visual anti-collision control method for an industrial robot arm

Abstract

The invention discloses a visual anti-collision control method for an industrial robot arm. The visual anti-collision control method for the industrial robot arm comprises the following steps of 1, establishing a three-dimensional system of coordinates of the working space where the mechanical arm is located; 2, establishing an Elman network based recognition model of a to-be-grabbed object target; 3, establishing an optimal mechanical arm grabbing path model based on a multinuclear support vector machine; 4, collecting the target image of the to-be-grabbed object in real time and identifyingobject category; and 5, determining the gravity center of the object based on the object category, obtaining the grabbing terminal coordinates, obtaining the optimal mechanical arm grabbing path, anddriving the mechanical arm to grab the object. By means of the method, an ideal trace that no collision is caused, the dynamic characteristic meets the margin requirement, and the trace length and movement time are short is figured out in a calculating mode for the mechanical arm to grab the target object, the production efficiency is greatly improved, meanwhile, the personnel cost is reduced, andbenefits are brought to factories.

Description

technical field [0001] The invention belongs to the field of mechanical arm control computing, and particularly relates to a visual collision avoidance control method for an industrial robot arm. Background technique [0002] With the advent of "Industry 4.0", the application of robotic arms in factories has become more and more extensive, and the efficiency and safety of traditional working methods of man-machine interaction in complex environments have received attention. The existing manipulator can be controlled by the teach pendant and the host computer. The teach pendant control is to control the joints of the manipulator through the joystick and buttons on the teach pendant, and then store the program after completing the predetermined working condition; the host computer controls It is programmed in the host computer and can complete the cycle of the established working conditions. The above two control methods of manipulators can only complete the cycle of fixed wo...

AI Technical Summary

Problems solved by technology

The above two manipulator control methods can only complete the cycle of fixed working conditions, and cannot cope with changes in working conditions. For the existing manipulator operation, the field of view of the manipulator is limited through the monitoring device, and the operator is very prone to accidents during the entire control process. Unbearable biological fatigue leads to mistakes and safety accidents. For this reason, the automatic recognition of the robotic arm and the design of the grasping object path are a major breakthrough in solving the problem of robotic arm control.

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