Redundancy-degree-of-freedom mechanical arm visual servo obstacle avoiding system

Abstract

The invention provides a redundancy-degree-of-freedom mechanical arm visual servo obstacle avoiding system. The system comprises a visual servo module, an information processing module, a mechanical arm control module, a driving module and a three-dimensional real-time simulating module; the driving module realizes communication between the mechanical arm control module and a redundancy mechanicalarm; the visual servo module acquires environment information of working space, and identifies target body and obstacle information; the information processing module builds three-dimensional solid models of obstacles according to the target body and obstacle information to obtain pose information of target bodies; and the mechanical arm control module converts targets in the working space to control instructions of joint space according to user operation instructions from the three-dimensional real-time simulating module, the three-dimensional solid models of the obstacles and the pose information of the target bodies, and sends the control instructions to the driving module to control mechanical arm terminals to move to the target bodies. The system integrates the advantages of visual servo and the objective function requirements of obstacle avoidance, can be verified offline, and can be connected with solid mechanical arms to achieve broad application prospect.

Description

technical field [0001] The invention relates to the technical field of manipulator control, in particular to a visual servo obstacle avoidance system for a manipulator with redundant degrees of freedom. Background technique [0002] With the development of industries such as machinery, electronics, aerospace, military defense and biomedicine, more and more industrial products and scientific experiment activities require automation, precision, high efficiency, high quality and high reliability. Whether it is "Made in China 2025" proposed by China or "Industry 4.0" proposed by Germany, the development of robotic arms is undoubtedly a force that cannot be ignored. Regardless of whether the robot arm is passively operated alone or humans and the robot arm cooperate to complete the task, it is very important to prevent collisions based on the principle of safety first. [0003] In three-dimensional space, a general robot arm only needs 6 degrees of freedom to reach a certain pos...

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is to provide a visual servo obstacle avoidance system of a redundant degree of freedom manipulator, which uses the redundant degree of freedom manipulator to reach a point in space and has the characteristics of multiple solutions, combined with visual servoing, to solve the current problem. In some cases, the results of the obstacle avoidance method of the robotic arm are inaccurate, and the method needs to be trained in advance or passive obstacle avoidance.

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