机电工程技术2024，Vol.53Issue(4)：25-29,5.DOI:10.3969/j.issn.1009-9492.2024.04.006
基于激光位移传感器的机器人动态平面跟踪控制方法
Laser Displacement Sensor Based on Dynamic Plane Robot Tracking Control Method
摘要
Abstract
In view of the pain point problems such as low robot dynamic plane tracking efficiency and poor anti-interference in the intelligent manufacturing industry,manufacturers usually choose the traditional vision solution to solve this problem,but this method has application problems such as image distortion and large pose estimation error in short distance range.Therefore,a laser displacement sensor based on dynamic plane robot tracking control method is proposed.The method involves equipping the robot tool flange with multiple high-frequency,high-precision,and highly anti-interference laser displacement sensors that integrate into the robot′s pose guidance system.By combining data analysis,data processing,robot motion modeling,and plane tracking algorithms,real-time tracking of dynamic planes can be achieved by using the robot.The experiments of horizontal plane fluctuation and vertical plane random shaking are carried out.The results show that when the flange of the robot tool is equipped with 4 laser displacement sensors,the comprehensive tracking efficiency can reach 90%,which is conducive to improving the intelligence and efficiency of actual production.关键词
机器人/传感器/动态平面跟踪/轨迹规划Key words
robot/sensor/dynamic planar tracking/trajectory planning分类
信息技术与安全科学引用本文复制引用
李云翔,周书民,汪志成,嵇志腾,朱青,周显恩,彭光荣..基于激光位移传感器的机器人动态平面跟踪控制方法[J].机电工程技术,2024,53(4):25-29,5.基金项目
国家自然科学基金项目(62103142 （）
U21A20482) （）
中国博士后科学基金项目(2020TQ0090 （）
2020M672485) （）
