摘要
本文通过对基于双目视觉的机器人上下料系统的设计,引入视觉测量与处理技术准确获取工件轮廓、位置和位姿数据,实现对工件的自动、准确和快速定位。融合网络通讯技术实现对六自由度机器人的伺服控制,实时导引机器人完成上下料动作。试验结果表明该系统能自适应工件形状,快速准确地完成上下料,能满足自动化要求,具有重要的应用价值。
The robot vision system is increasingly widely used in visual inspection and visual guidance.With industrial robot feeding system has been research on based on binocular vision by visual measurement and image processing technique in the paper.The data of workpiece-outline,position and angle has been acquired in order to get position of the workpiece automatically,accurately and quickly.The six degrees of freedom has been guarded by visual servo to feed to up and down the machine by network communication technology.The experimental result proves that the feeding system can pick and place workpiece accurately and quickly.
作者
刘保朝
LIU Bao-chao(Shannxi Polytechnic Institude, Xianyang 712000)
出处
《航空精密制造技术》
2018年第2期58-62,共5页
Aviation Precision Manufacturing Technology
基金
陕西工业职业技术学院课题(ZK16-8)
关键词
工业机器人
双目视觉
视觉伺服
上下料系统
PLC
robot with six degrees of freedom
binocular vision
visual servo, feeding system
PLC
