Research on Robotic Arm Trajectory Planning Method Based on Dual Cameras Guidance Without Common Field of View

In order to solve the problem of automatic assembly of large workpieces or automatic loading of large objects, the position measurement of the target object is realized with the cooperation of two cameras. For the problem of robotic arm trajectory planning with two cameras vision guidance in a non-common field of view, a four-degree-of-freedom robotic arm system with dual cameras vision measurement is first constructed to establish the kinematic model of the robotic arm, then image processing techniques are used to recognize, segment and ellipse fit the cooperative target image to obtain the pixel coordinates of the cooperative target, and the spatial position information of the cooperative target in the coordinate system of the robotic arm base is calculated by the transformation relationship between the coordinate systems, and finally, according to the position information of the cooperative target obtained from the measurement, the motion trajectory of the joints of the robotic arm is planned through the Constrained Optimization BY Linear Approximations (COBYLA) algorithm iterative optimization, and it is able to make the robotic arm realize the accurate positioning to the position of the cooperative target.