Abstract
Robotic arms with autonomous operation capabilities are currently widely used in real life, such as fruit picking, cargo handling, and workpiece assembly. However, the common autonomous operation methods of the robotic arm have some disadvantages, such as poor universality, low robustness, and difficult implementation. An autonomous operation method of multi-DOF (Multiple Degree of Freedom) robotic arm is proposed in this study on the basis of binocular vision. First, a target object extraction method based on extracting target feature points is proposed, and combined with the binocular positioning principle to obtain the spatial position of the target object. Second, in order to improve the working efficiency of the robotic arm, the robotic arm motion trajectory is planned on the basis of genetic algorithm in the joint space. Finally, a small physical prototype model is built for experimental verification. The experimental results show that the relative positioning error of the target object can reach 1.19% in the depth of field of 70–200 mm. The average grab error, variance, and grab success rate of the robot arm are 14 mm, 6.5 mm, and 83%, respectively. This shows that the method proposed in this paper has the advantages of high robustness, good versatility and easy implementation.
Highlights
Mechanical arm technology has been widely used since the development of science and technology in the 20th century
The traditional robotic arm mostly completes the corresponding work in accordance with an artificially set working mode
This method has a large amount of mathematical operations because it is necessary to solve the inverse kinematics equation of the robotic arm to obtain the optimal amount of motion of each joint, so it is difficult to implement in practical engineering
Summary
Mechanical arm technology has been widely used since the development of science and technology in the 20th century. Farzaneh Kaloorazi proposed a method for optimizing the trajectory planning and layout of a given path in a redundant coordinated robot working unit using PSO, and achieved good experimental results [15]. Xuan proposed a method on the basis of ADAMS software for inverse driving trajectory planning for the difficulty of traditional methods for solving the inverse kinematics problem of joint robots, and achieved good experimental results [17]. The trajectory planning method based on Cartesian space is the common method of motion trajectory planning currently applied to the robotic arm This method has a large amount of mathematical operations because it is necessary to solve the inverse kinematics equation of the robotic arm to obtain the optimal amount of motion of each joint, so it is difficult to implement in practical engineering.
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