Trajectory correction strategy for vision-guided industrial robot operating system with continuous operating trajectories

Abstract

Aiming at the trajectory control of the vision-guided industrial robot operating system especially under continuous operating trajectories, the trajectory correction strategy is studied in this paper. Firstly, to reveal the coordinate transformation relationship between the robot body and the vision system as well as provide the basis of the vision-guided trajectory control for the robot operating system, the kinematic model of the vision-guided robot operating system is established based on the improved DH parameter method. Secondly, on the basis of visual trajectory planning of typical continuous operating trajectories, the trajectory correction strategy is designed based on the fuzzy PID controller, and during the execution of the planned trajectory, the coordinates of the target trajectory points are simultaneously detected and fed back in real time through the vision system. A virtual prototype co-simulation experiment, based on MATLAB/Simulink and ADAMS, is conducted to evaluate and verify the proposed trajectory correction strategy. Finally, to further verify the proposed trajectory correction strategy, the real prototype experiments of the vision-guided robot operating system are conducted with typical continuous operating trajectories of straight, rectangular, and circular. The results indicate that the proposed trajectory correction strategy can achieve the real-time trajectory error compensation and improve the trajectory accuracy of the vision-guided industrial robot operating system especially under continuous operating trajectories.