Abstract
In order to solve the autonomous trajectory control of industrial robots based on vision, based on the principleof PNN (Probablistic Neural Network) classification recognition and NURBS(Non-Unifom Rational B Spline) trajectoryplanning, an autonomous trajectory control scheme for industrial robots using the result of PNN image recognition was Proposed. The visual system model of industrial robot was analyzed.the autonomous trajectory controller of industrial robot based on the recognition result of the visual system model was designed. The method of automatic generation of industrial robot NURBS trajectory using visual identification information was proposed. Finally, the closed loop system of autonomous trajectory control of industrial robot was designed with the industrial robot model.he simulation results show that the industrial robot control based on PNN image recognition can realize the smooth transformation of the control trajectory. The control scheme in this paper can realize stable and fast autonomous trajectory control of industrial robots based on vision.
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