Research On Robot Arm Path Planning Method Based On Machine Vision

It is very important to recognize and grasp the object in the production process.Due to the limited degree of intelligence of traditional industrial robots,they cannot be fully applied.Robotics can be applied to a variety of complex environments,not just simple scenarios.With advances in computers and big data technology,robots have become increasingly creative.With the progress of technology,traditional industrial robots are no longer able to meet the requirements of today’s complex environment and tasks,and they can independently complete a variety of repetitive,single and regular tasks according to their own computing power,without being affected by the external environment.Therefore,giving robots visual perception is extremely important and can change the direction of future development.To solve the above problems,this paper takes DOBOT four-degree-of-freedom lightweight desktop robot arm as the research object,combines machine vision and path planning algorithm to apply to the robot control system,and focuses on the problem of image processing and path planning,and designs and builds a set of experimental platform in the simulation environment and the real state.After sensing the location of the target object,the robot dynamically adjusts its motion behavior according to the planning algorithm to ensure that the robot successfully grabs the target and runs to the placement point according to the planned path.This paper will use robot kinematics,machine vision,path planning and other technologies for research and analysis.The main contents are as follows:1.Build a vision-based robot arm grasping simulation experiment platform,and analyze the vision processing system and path planning system through the simulation environment.2.The kinematic model of DOBOT robot arm was built by MATLAB,and its transformation matrix was solved by MATLAB software,so as to obtain the kinematic equation of the robot arm.According to the structure characteristics of the DOBOT robot arm,the kinematics analysis of the robot arm is carried out.3.Realize image processing and image calibration in machine vision through MATLAB analysis,and ensure accurate identification and positioning of target objects through image preprocessing,edge detection,image calibration and other operations.4.Implement a rapidly expanding random tree path planning algorithm based on sampling,and improve the RRT* algorithm by introducing spline interpolation and the gravitational field of the target point,so as to ensure that path planning can be carried out efficiently after visual acquisition of the location of the target point.5.Build a physical operation scenario by combining MATLAB and Coppelia Sim(VREP)co-simulation environment.The whole system is verified and analyzed by experiment.