摘要
针对智能装备设计开发制造中存在的物理样机调试周期长,视觉引导系统需现场调试等问题,通过对物理视觉系统与虚拟仿真系统进行研究,以及对并联机器人逆运动学进行分析验证,提出视觉、感知协同的标定方法,进而建立视觉引导虚拟仿真系统,实现虚拟视觉在智能装备设计中的应用。通过对比分析机器人工具坐标与虚拟视觉检测坐标,确认视觉引导虚拟仿真系统具有较高的可靠性,综合抓取精度达到99.6%。视觉引导虚拟仿真系统可以代替现场视觉调试,降低研发风险,具有一定的工业推广价值。
Because of long debugging cycle of the physical prototype in the design,development and manufacturing of intelligent equipment as well as the need for on-site debugging of the vision-guided system,investigations on the physical vision system and virtual simulation system were performed.After analysis and verification of inverse kinematics of the parallel robot,a calibration method based on collaboration of vision and perception was first proposed,and then a vision-guided virtual simulation system was established to realize the application of virtual vision in the design of intelligent equipment.By comparing and analyzing the robot tool coordinate and virtual vision detection coordinate,it is confirmed that the vision-guided virtual simulation system has high reliability,and the comprehensive grasping accuracy attains 99.6%.The vision-guided virtual simulation system can replace on-site visual debugging,reduce R&D risks,and has certain industrial value.
作者
张文
顾莉栋
费建东
Zhang Yiwen;Gu Lidong;Fei Jiandong
出处
《上海电气技术》
2021年第4期5-9,共5页
Journal of Shanghai Electric Technology
关键词
视觉引导
虚拟仿真
研究
Vision-guided
Virtual Simulation
Investigation
