曹华,李伟.基于遗传算法的包装机械臂位置精度控制方法[J].包装工程,2021,42(9):249-253.
CAO Hua,LI Wei.Position Accuracy Control Method of Packaging Manipulator Based on Genetic Algorithm[J].Packaging Engineering,2021,42(9):249-253. |
| 基于遗传算法的包装机械臂位置精度控制方法 |
| Position Accuracy Control Method of Packaging Manipulator Based on Genetic Algorithm |
| 投稿时间：2020-10-12 |
| DOI：10.19554/j.cnki.1001-3563.2021.09.035 |
| 中文关键词: 包装机械臂 手眼标定 遗传算法 多变量 |
| 英文关键词: packaging mechanical arm hand-eye calibration genetic algorithm multivariate |
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| 中文摘要: |
| 目的 为提高包装机械臂运行精度，解决视觉伺服控制系统中手眼标定问题，基于遗传算法设计一种机械臂运动学参数标定方法。方法 在明确手眼视觉坐标的基础上，给出不同坐标系之间的变换关系。通过对比机械臂末端执行器理论位置和实际位置，确定其运动学参数标定误差模型。基于遗传算法基本原理，搭建了相关适应度函数，根据计算所得误差补偿量更新末端执行器位姿。最后，对机械臂运动控制系统进行联合调试以及实验分析。结果 实际位置和理论位置之间偏差绝对值的平均值大约为0.8 mm，偏差最大值只有1.2 mm，精度比较高。结论 所述手眼标定方法可以显著提高机械臂运动精度，可满足相关包装行业要求。 |
| 英文摘要: |
| In order to improve the running accuracy of the packaging mechanical arm and solve the hand-eye calibration problem in the visual servo control system, a method for calibrating kinematics parameters of the manipulator was designed based on genetic algorithm. Based on the definition of hand-eye visual coordinates, the transformation relations between different coordinate systems were given. By comparing the theoretical position with the actual position of the manipulator end-effector, the calibration error model of kinematics parameters was determined. Based on the basic principle of genetic algorithm, the fitness function was constructed and the pose of end-effector was updated according to the error compensation. Finally, the joint debugging and experimental analysis of the manipulator motion control system were carried out. The mean absolute value of the absolute deviation between the actual position and the theoretical position is about 0.8 mm, and the maximum deviation is only 1.2 mm, so the accuracy is relatively high. The hand-eye calibration method can significantly improve the motion accuracy of the mechanical arm and meet the requirements of the relevant packaging industry. |
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