Open AccessAn Autonomous Robotic Alignment Strategy Based on Visual Gudiance
Author(s) -
Chi Zhang,
Jiexin Pu,
Xinyue Niu
Publication year - 2019
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/612/3/032123
Subject(s) - computer vision , artificial intelligence , computer science , process (computing) , monocular vision , robot , motion planning , machine vision , path (computing) , monocular , programming language , operating system
Aiming at the problem that the intelligent level of solid rocket motor production line depends on manual alignment is low, a control strategy of robot automatic alignment based on monocular vision guidance is proposed. Accurate position measurement is realized by monocular vision; the mapping relationship between vision space and robot space is obtained by hand-eye calibration technology; the motion path of the robot is planned by the probabilistic roadmap method, and the assembly process is optimized by using the results of visual feedback; finally, the alignment process is visualized by simulation. Experiments and results demonstrate the effectiveness of the proposed strategy, which can achieve high-precision positioning, visual detection, path planning and path adjustment. It can meet the accuracy requirements of the robot automatic alignment operation and complete the whole process automatically.