Anti-collision Motion Control of the Industrial Manipulator Based on 3D Point Cloud

摘要

The manual teaching process of the industrial manipulator is relatively dull, and most of the paths given by the teaching can only serve one production line. In order to improve the intelligence and autonomy of the industrial manipulator, this paper proposes a motion control scheme for the manipulator based on the point cloud. The solution uses a 3D camera to obtain point cloud information about the manipulator and the surrounding environment. It processes the point cloud information to obtain the point cloud of the manipulator, which is used to complete the study of the anti-collision of the manipulator. Experiments show that the scheme can realize simple anti-collision motion control of manipulator by using point cloud, which is essential for future expansion of point cloud application on industrial robots and improving the intelligence of industrial robots, etc.