双目视觉传感器下的双臂装配机器人最佳装配位置的确定

双目注视下双臂机器人装配时,双目测量分辨率最高的位置往往并不对应机器人 的最佳操作性,为求得机器人的最佳装配位置本文把问题归结为对一个所构造的目标函数求值,并

通过调节权重来加强对某一性能的侧重。文中的计算实例利用遗传算法对该方法进行了仿真计算,计算结果表明采用该方法能确定出测量分辨率和可操作性俱佳的装配位置。并给出了结论。

[关键词] 　视觉传感器;测量分辨率;双臂机器人;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