本文選題：手眼關系　切入點：點云　出處：《天津工業(yè)大學》2017年碩士論文　論文類型：學位論文

【摘要】：為提高復合材料預制件縫合機器人靈活性與加工柔性,針對縫合機器人自動路徑規(guī)劃問題,研究了基于三維光柵掃描技術(shù)的曲面復合材料縫合機器人視覺接縫提取技術(shù)�；贓ye-to-hand結(jié)構(gòu),將機器人、單邊縫合末端與三維掃描設備組成手眼視覺系統(tǒng),并利用三維掃描儀獲得預制件點云數(shù)據(jù),經(jīng)過點云處理及自主規(guī)劃算法,實現(xiàn)了對縫合機器人縫合位姿的求解,具體內(nèi)容如下:首先對攝像機進行內(nèi)外參數(shù)及雙目結(jié)構(gòu)參數(shù)的標定實驗,并針對三維掃描攝像機視場固定的特點改進傳統(tǒng)手眼標定方法,提出一種用于求解手眼關系矩陣的四點標定法,建立了機器人坐標系與攝像機坐標系的位姿映射關系。經(jīng)過手眼關系標定,三維光柵掃描儀采樣得到的縫合預制件點云數(shù)據(jù)可轉(zhuǎn)化為機器人坐標系下點云數(shù)據(jù)坐標。然后通過點云特征提取算法對采集的預制件進行了接縫特征提取,并通過計算得到了接縫中心線,進而基于接縫特征提出了一種縫合機器人自主規(guī)劃算法,采用三次多項式對接縫中心線進行空間曲線擬合,采用最小二乘法對縫合微切平面進行平面擬合,完成機器人操作空間前進矢量及接近矢量的計算。最后以自主規(guī)劃的機器人路徑點作為縫合工位,采用西門子PLC設計單邊縫合裝置縫針運動與機器人本體運動的協(xié)調(diào)控制系統(tǒng)。基于profibus現(xiàn)場總線通信技術(shù),采用"一主多從"網(wǎng)絡控制策略,完成各個設備之間的數(shù)據(jù)交換,進而達到控制目的。縫合實驗結(jié)果表明,該系統(tǒng)可以滿足實際縫合工藝要求。
[Abstract]:In order to improve the flexibility and processing flexibility of composite prefabricated stitching robot, the automatic path planning problem of suture robot was studied. The visual seam extraction technology of curved composite suture robot based on 3D grating scanning technology is studied. Based on Eye-to-hand structure, the hand-eye vision system is composed of robot, one-sided suture end and 3D scanning equipment. The prefabricated point cloud data are obtained by using 3D scanner. After point cloud processing and autonomous programming algorithm, the suture position and pose of the suture robot are solved. The main contents are as follows: firstly, the calibration experiments of internal and external parameters and binocular structure parameters of the camera are carried out, and the traditional hand-eye calibration method is improved in view of the fixed field of view of the 3D scanning camera. A four-point calibration method for solving hand-eye relation matrix is proposed, and the pose mapping relationship between robot coordinate system and camera coordinate system is established, which is calibrated by hand-eye relationship. The point cloud data obtained from 3D raster scanner can be transformed into point cloud data coordinates in robot coordinate system. The center line of the joint is obtained by calculation, and then an autonomous programming algorithm of the stitching robot is proposed based on the seam characteristics. The space curve fitting is carried out by using the cubic polynomial to connect the center line of the joint. By using the least square method to fit the sutured micro-tangent plane, the forward vector and the approaching vector of the robot operating space are calculated. Finally, the path point of the robot is used as the suture position. Siemens PLC is used to design the coordinated control system of sewing needle motion and robot body motion of one-sided suture device. Based on profibus fieldbus communication technology, the network control strategy of "one master multiple slave" is adopted to complete the data exchange between each device. The result of suture experiment shows that the system can meet the requirements of practical stitching process.
【學位授予單位】：天津工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP391.41;TP242

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