Visual Inspection And Collaborative Algorithm Design For A Dual Manipulator Assembly System

With the transformation and upgrading of China’s economic structure,robot technology is playing an increasingly important role in daily life and industrial production.However,there is still a lack of robots in industrial manufacturing that can replace workers with relatively complex assembly tasks.Aiming at the requirements of workpiece assembly in industrial manufacturing,a dual robotic arm assembly system with a visual inspection and collaborative control is completed in this paper.First,based on the thorough analysis of the functional requirements of the dual robotic arm assembly system,combined with the technical indicators,the visual inspection and collaborative control scheme design of the dual robotic arm assembly system is completed,and the selection of the visual inspection module and the robotic arm module is completed.Second,in view of the loss of calculation and time caused by the need to divide the object recognition and pose estimation into two steps in traditional target recognition and positioning,an end-to-end SUYOLO-6D algorithm is proposed.And based on the traditional algorithm,the network structure and regression function are optimized and improved.Aiming at the problem of small-sized objects in the industrial environment,a multi-scale feature extraction network is added.After comparing the improved algorithm with the original algorithm,SUYOLO-6D algorithm is proved to be improve in calculation speed and accuracy.Then,in order to solve the problem that it is difficult to achieve a high degree of coordination between the traditional dual-robotic control algorithms,an artificial potential field algorithm is combined with a linear interpolation algorithm,and a dual-robotic arm coordination is designed under the coordination structure of the master and slave robotic arms control algorithm.At the same time,the real-time trajectory obstacle avoidance function is added to the dual-robot coordinated control algorithm based on the actual assembly situation in industrial manufacturing.Finally,the physical construction of the dual robotic arm assembly system is completed,and sub-module testing is performed according to the principle of commissioning from general to overall,and finally system joint adjustment.The design of the visual inspection and cooperative control system of the dual robotic arm assembly can better meet the requirements,and preliminary verification of the effectiveness of the entire system is showed in the results.