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Alternative TitleMotion Control and Visual Compensation of Spraying Robot
李永杰1; 臧琛2; 邱继红3
Source Publication机械设计与制造
Contribution Rank3
Funding Organization国家自然科学基金项目(51175001) ; 内蒙古自治区自然科学资金项目(NJZC16540) ; 内蒙古自治区高等学校科学研究项目(2015B102)
Keyword六自由度 喷涂机器人 斜交手腕 运动学仿真 D-H法 视觉补偿
Other AbstractThe key points of motion control of the six-DOF robot are analyzed,and the motion control algorithm is deeply studied. Secondly,the kinematics modeling of the spray robot is given,and the detailed motion control is described from the aspects of the forward and inverse kinematics. Secondly,the kinematics model of the spray robot is established. The spray robot’s inverse kinematics process is solved by numerical iterative method,and the algorithm’s accuracy and speed are strictly controlled. The correctness and fastness of the algorithm are obtained by the MATLAB drawing tool. At last,a method based on the edge contour feature is proposed. The method realizes the visual compensation,and realizes the positioning of the three-dimensional spatial information of the workpiece by the multi-target block processing,and guides the spraying operation of the spraying robot,thus ensuring the precision and promptness of the working process of the spraying robot.
Document Type期刊论文
Corresponding Author李永杰
Recommended Citation
GB/T 7714
李永杰,臧琛,邱继红. 喷涂机器人运动控制和视觉补偿[J]. 机械设计与制造,2018(12):257-261.
APA 李永杰,臧琛,&邱继红.(2018).喷涂机器人运动控制和视觉补偿.机械设计与制造(12),257-261.
MLA 李永杰,et al."喷涂机器人运动控制和视觉补偿".机械设计与制造 .12(2018):257-261.
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