Research On Robot Target Positioning And Controlalgorithm In Wheel Production Line

The continuous innovation of national science and technology drives the rapid development of industry and agriculture at the modernization level.In the process of industrial and agricultural modernization,a large number of mechanical vehicles are one of the most important aspects,and wheel products are also key and important components in the production of mechanical vehicles.It can be said that the production efficiency of wheels and the level of intelligent manufacturing affect the speed and level of industrial and agricultural development to a certain extent.However,at present,the production of wheels in industrial and agricultural machinery wheels is independently produced and supplied by small and medium-sized enterprises.The current production technology status of these production enterprises is basically semi-automatic production or completely manual production.Therefore,based on a medium-sized agricultural wheel production enterprise,this paper conducts innovative and intelligent design research on the traditional all-manual production line.The main purpose is to solve the current artificial low-efficiency production problem of the enterprise to realize intelligent production and improve production efficiency.This article focuses on the two aspects of the robot vision positioning simulation grab system and the trajectory tracking control of the robot arm carrying the workpiece.main tasks as follows:The first is to design the robot visual positioning simulation gripping system according to the wheel production line process and actual production requirements to complete the selection of hardware and software for each part.The second is to complete the calibration and accuracy test of the camera and vision system in thevision system.The third is to complete the preprocessing and positioning algorithm research on the recognition and positioning algorithm of the round wheel workpiece in production.It mainly includes the selection of image enhancement,edge detection,image segmentation algorithms and processing in the preprocessing process.The accuracy comparison between the hough transform detection and the improved detection algorithm in geometric positioning.Finally,the experimental data shows the effectiveness of the improved hough transform detection algorithm.Fourthly,aiming at the trajectory tracking problem actually required during the transportation of the robot arm carrying the workpiece after grasping,the input signal type is determined by analyzing the corresponding curve relationship between the robot arm Cartesian space and the joint space,and finally by establishing the power of the two joint robot Mathematical modeling verified the tracking effect of the exponentially variable PD iterative learning control algorithm on the input signal through simulation,and achieved the expected purpose.Fifth,the cyclic dynamic positioning and grabbing experiment of the vision system is completed by changing the position of the workpiece to be detected,and the data is obtained for analysis,and the ideal effect is obtained.In this paper,the robot vision positioning simulation grab system for wheel production line research is not only applicable to the production field,but also has good reference and guidance significance for other similar production lines that require visual robots.