雙目視覺傳感器下的雙臂裝配機(jī)器人最佳裝配位置的確定

雙目注視下雙臂機(jī)器人裝配時(shí),雙目測(cè)量分辨率最高的位置往往并不對(duì)應(yīng)機(jī)器人 的最佳操作性,為求得機(jī)器人的最佳裝配位置本文把問題歸結(jié)為對(duì)一個(gè)所構(gòu)造的目標(biāo)函數(shù)求值,并
通過調(diào)節(jié)權(quán)重來加強(qiáng)對(duì)某一性能的側(cè)重。文中的計(jì)算實(shí)例利用遺傳算法對(duì)該方法進(jìn)行了仿真計(jì)算,計(jì)算結(jié)果表明采用該方法能確定出測(cè)量分辨率和可操作性俱佳的裝配位置。并給出了結(jié)論。
[關(guān)鍵詞] 　視覺傳感器;測(cè)量分辨率;雙臂機(jī)器人;可操作性
Abstract :When a two2arm robot assembles parts under visual observation ,the high measurement resolu2 tion position of two vision sensors doesn’t correspond to the robot’s best manipulability. In order to get the best assembly position ,the paper has managed to solve an objective function and adjust weight to emphasize a cer2 tain aspect of performance.A calculative example in this paper use this method to make a simulative calculation based on genetic algorithm. The results show that this method can determine the best position for both measure2 ment resolution and manipulability. Conclusions are also offered.
Key words :Vision sensor ;Measurement resolution ;Two2arm robot ;Manipulability