机器人2017，Vol.39Issue(3)：377-384,8.DOI:10.13973/j.cnki.robot.2017.0377
基于改进遗传算法与机器视觉的工业机器人猪腹剖切轨迹规划
Trajectory Planning for Porcine Abdomen Cutting Based on an Improved Genetic Algorithm and Machine Vision for Industrial Robot
摘要
Abstract
For pork production line, an automation method of porcine abdomen cutting is studied. The automatic cutting system consists of a 6-DOF industrial manipulator, customized tools, PC, 2D camera and rack. By calibrating the tool frame, user frame and camera, the spatial position and orientation relations of hand-target-eye are established. With the feature identification algorithm, the porcine abdomen curve can be extracted from the image and fitted with quintic spline curve. Sectional trajectories of the spline curve are planned based on the biological features of porcine cavum peritonaei and the improved genetic algorithm (GA). Finally, the trajectory planning results are transformed into Cartesian space according to their spatial relations for programming. The purpose of the experiment is to use the proposed method to perform efficient abdomen cutting without organ damage, which is benefit for subsequent treatment of carcase and tharm. The experiment results show that the porcine abdomen cutting method for industrial robot is superior to manual cutting in efficiency and precision, and meets the demands of pork production line.关键词
改进遗传算法/特征识别/工业机器人/猪腹剖切/轨迹规划Key words
improved genetic algorithm/feature recognition/industrial robot/porcine abdomen cutting/trajectory plan-ning分类
信息技术与安全科学引用本文复制引用
刘毅,丛明,刘冬,朱福康..基于改进遗传算法与机器视觉的工业机器人猪腹剖切轨迹规划[J].机器人,2017,39(3):377-384,8.基金项目
辽宁省科技创新重大专项(2015106011). （2015106011）
