Research On Visual Positioning And Path Planning Technology Of Pipe Carrying Manipulator Arm

Industrial mechanical arm is widely used in industrial production due to its advantages of flexible movement,strong universality,strong obstacle avoidance ability and easy control.For the handling tasks of the mechanical arm,the traditional teaching method is generally adopted,but it cannot deal with the complex situation of the uncertain position and pose of the target object and the numerous obstacles in the working environment.Therefore,it is of great significance to study the visual positioning and obstacle avoidance path planning of the mechanical arm.This thesis takes KUKA KR210 R2700 extra six-axis industrial manipulator as the research object,establishes its connecting rod coordinate system,lists the standard D-H parameter table,and establishes its forward and inverse kinematics equation.Aiming at the visual positioning of the robot arm,the mathematical model of the camera is established and the camera calibration is completed.The internal and external parameters of the camera are solved.An eye-in-hand mechanical arm monocular vision system is established to solve the hand-eye calibration problem and the hand-eye matrix is solved.Based on the triangulation principle,the depth location algorithm of the vision system is studied.Based on RRT and its derivative algorithms,an improved RRT algorithm P＿RRT* is proposed,and the simulation path planning experiments are compared with RRT,RRT＿Connect and RRT* to verify the effectiveness and superiority of the P＿RRT* algorithm.Finally,aiming at the capture and transport of pipes,a manipulator experimental verification platform is built,and the depth positioning algorithm and path planning algorithm P＿RRT* algorithm of the monocular vision system are experimentally verified.