Autonomous perception method of multi-degree-of-freedom industrial robot arm trajectory
参考中译:多自由度工业机器人手臂轨迹的自主感知方法


          

刊名：Advanced Control for Applications
作者：Xiaochuan Qian（Institute of Technology, Xi'an International University）
刊号：737B0253/I
出版年：2024
年卷期：2024, vol.6, no.2
页码：e137-1--e137-16
总页数：16
分类号：TP2
关键词：3D lidar；ICP algorithm；Industrial robot arm；Multiple degrees of freedom；Trajectory autonomous perception
参考中译：3D激光雷达; ICP算法;工业机器人手臂;多自由度;轨迹自主感知
语种：eng
文摘：In this study, a novel autonomous sensing method of multi-degree-of-freedom industrial robot arm trajectory is proposed. The research takes the distance sensor to collect environmental data, and takes the point cloud data scanned by 3D laser as the basis. The environment model ofmulti-degree-of-freedom industrial robotic arm is established by Iterative Closest Point (ICP). Then the target object is calibrated by binocular imaging technology. Subsequently, angle of each joint of multi-degree-of-freedom industrial robotic arm is calculated to determine the spatial attitude of the robotic arm. In addition, 3D LiDAR is installed at the end of the robotic arm, and the end trajectory of multi-degree-of-freedom industrial robotic arm is sensed autonomously by using the optimal function. The proposed method has advantages of high accuracy and short sensing time in autonomous sensing of multi-degree-of-freedom industrial robot arm trajectory.
参考中译：本研究提出了一种新颖的多自由度工业机器人手臂轨迹自主感知方法。该研究以距离传感器收集环境数据，以3D激光扫描的点云数据为基础。利用迭代最近点（Iterative Closest Point）建立了多自由度工业机器人臂的环境模型。然后利用双眼成像技术对目标物体进行校准。随后，计算多自由度工业机器人臂各关节的角度，确定机器人臂的空间姿态。此外，在机器人臂末端安装3D LiDART，利用最优函数自主感知多自由度工业机器人臂的末端轨迹。该方法具有多自由度工业机器人手臂轨迹自主感知准确度高、感知时间短的优点。



国家科技图书文献中心  全球文献资源网  京ICP备05055788号-26  京公网安备11010202008970号  机械工业信息研究院 2018-2024