基于增强现实的6自由度工业机器人示教研究
|
摘要
针对机器人离线编程效率低和交互性差的问题,提出了一种6自由度机器人增强现实示教系统。利用位置姿态跟踪系统采集手持式示教器的位置和姿态,以示教器位置和姿态作为输入,利用6自由度机器人逆运动学模型求解机器人各关节姿态,驱动虚拟机器人模型运动,使虚拟机器人末端执行器复现示教器路径和姿态;利用增强现实技术将6自由度虚拟机器人叠加到真实工作环境中,并通过检查虚拟机器人模型是否与真实工作环境存在干涉,实现对机器人的增强现实示教。研究结果表明:该系统可以准确地把虚拟机器人叠加到真实环境中,实时地跟踪示教器的位置和姿态,且具有良好的人机交互性。
Aiming at inefficiency and poor interactivity for off-line robot programming,a 6-DOF robot teaching system based on Augmented Reality was proposed. The Pose Tracking System was used to collect position and orientation data of the handheld teaching pendant. Taking the pose of the pendant as input,the pose of each joint of the virtual robot was calculated using inverse kinematics of the robot to drive the movement of the virtual robot to reproduce path and posture of the pendant. The 6-DOF robot virtual model was added into a real environment using the augmented reality technology and the virtual robot model was checked to see if a collision has occurred with the real processing environment through augmented reality glasses. The results indicate that the system can accurately superimpose the virtual robot on the real environment,can track the position and orientation of the hand-held teaching pendant in real time. The system has good man-machine interaction,and can be widely used in robotic welding,spraying,polishing,assembly and other programming.
Aiming at inefficiency and poor interactivity for off-line robot programming,a 6-DOF robot teaching system based on Augmented Reality was proposed. The Pose Tracking System was used to collect position and orientation data of the handheld teaching pendant. Taking the pose of the pendant as input,the pose of each joint of the virtual robot was calculated using inverse kinematics of the robot to drive the movement of the virtual robot to reproduce path and posture of the pendant. The 6-DOF robot virtual model was added into a real environment using the augmented reality technology and the virtual robot model was checked to see if a collision has occurred with the real processing environment through augmented reality glasses. The results indicate that the system can accurately superimpose the virtual robot on the real environment,can track the position and orientation of the hand-held teaching pendant in real time. The system has good man-machine interaction,and can be widely used in robotic welding,spraying,polishing,assembly and other programming.
引文
[1]潘俊浩,卓勇,侯亮.一种基于Unity3d的工业机器人示教系统设计方法[J].组合机床与自动化加工技术,2017,(7):110-115.
[2] DONG Xiu-cheng,LIANG Fei,WANG Xiao-ping. A scene simulation and collision detection system for 6 DOF motion platform[C]. 2010 International Conference on Computer Application and System Modeling,Taiyuan:IEEE,2010.
[3] MATSAS E,VOSNIAKOS G C. Design of a virtual reality training system for human-robot collaboration in manufacturing tasks[J]. International Journal for Interactive Design and Manufacturing,2017,11(2):139-153.
[4] CHONG J W S,ONG S K,NEE A Y C,et al. Robot programming using augmented reality:aninteractive method for planning collision-free paths[J]. Robotics and Computer Integrated Manufacturing,2009,25(3):689-701
[5] FANG H C,ONG S K,NEE A Y C. Novel AR-based interface for human-robot interaction and visualization[J]. Advances in Manufacturing,2014,2(4):275-288.
[6]邵泽燕,邵泽健,陈成军,等.基于Kinect的机械臂增强现实示教研究[J].计算技术与自动化2017,36(2):68-72.
[7] FANG H C,ONG S K,NEE A Y C. Orientation planning of robot end-effector using augmented reality[J]. International Journal of Advanced Manufacturing technology,2013,67(9-12):2033-2049.
[8] NI D,YEW A W W,ONG S K,et al. Haptic and visual augmented reality interface for programming welding robots[J].Advances in Manrfacturing,2017,5(3):191-198
[9]叶上高,刘电霆.机器人运动学逆解及奇异和多解的处理[J].机床与液压,2014,42(3):27-29.
[10]司艳伟,陈洪立.六自由果蔬采摘机器人关节空间轨道规划[J].轻工机械,2017,35(4):8-12.
[11]李焕,李海博,樊庆文,等.一种并联二自由度机械臂的控制算法研究[J]机械,2017(11):19-22.
[12]申闰春,朱幼虹,曹莉,等.基于OSG的三维仿真平台的设计与实现[J].计算机仿真,2007,6(24):207-211.
[13]李东年,周以齐.采用改进粒子群优化粒子滤波的三维人手跟踪[J].光学精密工程,2014,22(10):2870-2878.
[14]赵元杰,郭禾,王伟,马晓刚.增强现实技术中基于碰撞检测的交互性方法[J].武汉理工大学学报,2010,32(20):135-139.
[2] DONG Xiu-cheng,LIANG Fei,WANG Xiao-ping. A scene simulation and collision detection system for 6 DOF motion platform[C]. 2010 International Conference on Computer Application and System Modeling,Taiyuan:IEEE,2010.
[3] MATSAS E,VOSNIAKOS G C. Design of a virtual reality training system for human-robot collaboration in manufacturing tasks[J]. International Journal for Interactive Design and Manufacturing,2017,11(2):139-153.
[4] CHONG J W S,ONG S K,NEE A Y C,et al. Robot programming using augmented reality:aninteractive method for planning collision-free paths[J]. Robotics and Computer Integrated Manufacturing,2009,25(3):689-701
[5] FANG H C,ONG S K,NEE A Y C. Novel AR-based interface for human-robot interaction and visualization[J]. Advances in Manufacturing,2014,2(4):275-288.
[6]邵泽燕,邵泽健,陈成军,等.基于Kinect的机械臂增强现实示教研究[J].计算技术与自动化2017,36(2):68-72.
[7] FANG H C,ONG S K,NEE A Y C. Orientation planning of robot end-effector using augmented reality[J]. International Journal of Advanced Manufacturing technology,2013,67(9-12):2033-2049.
[8] NI D,YEW A W W,ONG S K,et al. Haptic and visual augmented reality interface for programming welding robots[J].Advances in Manrfacturing,2017,5(3):191-198
[9]叶上高,刘电霆.机器人运动学逆解及奇异和多解的处理[J].机床与液压,2014,42(3):27-29.
[10]司艳伟,陈洪立.六自由果蔬采摘机器人关节空间轨道规划[J].轻工机械,2017,35(4):8-12.
[11]李焕,李海博,樊庆文,等.一种并联二自由度机械臂的控制算法研究[J]机械,2017(11):19-22.
[12]申闰春,朱幼虹,曹莉,等.基于OSG的三维仿真平台的设计与实现[J].计算机仿真,2007,6(24):207-211.
[13]李东年,周以齐.采用改进粒子群优化粒子滤波的三维人手跟踪[J].光学精密工程,2014,22(10):2870-2878.
[14]赵元杰,郭禾,王伟,马晓刚.增强现实技术中基于碰撞检测的交互性方法[J].武汉理工大学学报,2010,32(20):135-139.