Processing Trajectory Planning of Space Curved Robot Based on Vision

In order to improve the accuracy and efficiency of the robot when cutting cylindrical workpieces, an algorithm based on binocular vision and laser target reconstruction point to generate robot cutting path is proposed through joint vision reconstruction and robot motion. First, the CCD camera vision environment and the dot laser measuring device arc set up to form a dynamic trajectory by traversing the surface of the work-piece. Then the trajectory points arc reconstructed and fitted into a continuous cutting path, and the robot processing trajectory with the adaptive multiple discrete difference algorithm is planned. Finally, through the closed-loop chain of the coordinate system of the robotic hand-eye system, the attitude trajectory is converted into the robot joint motion angle, and a complete set of automatic processing scheme from the three-dimensional reconstruction curve to the robot trajectory attitude planning is formed. Simulation results show that the algorithm can accurately extract the three-dimensional coordinates of the work-piece contour, generate the processing trajectory of the robot space curve, and complete the cutting task.