雙目注視下雙臂機器人裝配時,雙目測量分辨率最高的位置往往并不對應(yīng)機器人 的最佳操作性,為求得機器人的最佳裝配位置本文把問題歸結(jié)為對一個所構(gòu)造的目標(biāo)函數(shù)求值,并
通過調(diào)節(jié)權(quán)重來加強對某一性能的側(cè)重。文中的計算實例利用遺傳算法對該方法進行了仿真計算,計算結(jié)果表明采用該方法能確定出測量分辨率和可操作性俱佳的裝配位置。并給出了結(jié)論。
[關(guān)鍵詞] 　視覺傳感器;測量分辨率;雙臂機器人;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