Abstract
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.
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