Research On Human-Robot Collaboration Handling Based On Vision And Force Feedback

With the rapid development of intelligent manufacturing,human-robot cooperation technology and cooperative robot are increasingly widely used,which has become an important support of modern manufacturing.In order to improve the method of humanrobot cooperation,this paper applies vision and force feedback to human-robot cooperative handling,and carries out the research on target position and attitude estimation,robot inverse kinematics solution and intention recognition based on force control.Aiming at the problem of pose estimation of the target,this paper studies and analyzes the relevant theories of the vision system,and establishes the conversion relationship between the vision system and the robot system by camera calibration and hand-eye calibration.The point cloud information is obtained according to the vision system,and it has been filtered,segmented,clustered and registered,so that the position and attitude information of the target is obtained.Through the hand-eye calibration matrix,the position and attitude information is converted to the robot base coordinate system so that the robot can grasp reasonably.In order to solve the inverse kinematics problem of robot,the forward and inverse kinematics models of robot are established in this paper,and the basic principles,advantages and disadvantages of different inverse kinematics solving methods are summarized and analyzed.based on this,an improved LM method is proposed to solve the inverse kinematics.The strategy which the nonlinear time-varying updating method is used to replace the constant term in the damping factor,and the trust region method is added to update the damping factor,and extend the iterative initial value is used to accelerate the convergence speed of the algorithm and improve the accuracy.Aiming at the problem of intention identification based on force control,different compliance control models are theoretically analyzed.Combined with the characteristics of human-robot cooperative force control,the human-robot cooperative force control method based on variable damping admittance control is adopted.According to the speed,acceleration threshold and force,the intention of the collaborator is divided into acceleration,deceleration and direction change,and different damping values are set for different intentions to make human-robot cooperation more efficient.In order to verify the effectiveness of the human-robot cooperative handling system in this paper,a handling experimental platform is built to visually identify the position and posture of the target,and coordinate the human-robot handling process with force,and object is grasped and carried by the robot and the cooperative personnel.The experimental results show that the system can better complete the human-robot cooperative transportation task,improving the cooperation efficiency and stability,and save more cooperation time and effort consumed by the collaborators.