Trajectory-Planning Algorithm Based on Engineering Vision in Manipulator Management
A. A. Zelenskii, Франц Владимир Александрович, Evgeny A. Semenishchev · Russian Engineering Research · 2020
Abstract A long-range optical device and an engineering-vision system are used to relate the coordinate systems of the workpiece and tool to the basic coordinate system of a manipulator. The deficiencies of the long-range optical sensor limit its use with objects that are highly reflective and are characterized by surface scattering, on account of the multiplicity of beam paths. An algorithm is proposed for trajectory planning on the basis of a three-dimensional model of the workpiece. That decreases the scanning time, without loss of model quality.