基于视觉定位的机器人控制技术研究

发布时间：2018-03-17 07:29

本文选题：机器人　切入点：视觉系统　出处：《安徽工程大学》2017年硕士论文　论文类型：学位论文

【摘要】：机器人技术的发展为制造业企业带来了新活力,解决了人力资源短缺问题并提高了产品质量和工作效率,单纯的机器人技术在一些高端应用场合受到限制,而引入视觉系统可满足柔性化生要求,推进了智能化和自动化的进程。本文结合埃华路(芜湖)机器人工程有限公司实际工程需求开展了基于视觉定位的机器人控制技术研究[11。机器视觉系统是一项综合技术,涉及到多门学科,各项技术相互协调成功应用于实际工程。机器视觉系统组成部分包括摄相机和光学系统、照明系统、要检查的对象、图像采集与处理系统、操作设备接口和外部设备接口。机器视觉可实际上就是利用视觉传感器代替人眼工作,适应现场恶劣环境完成人工难以完成或无法完成的任务,提高生产的柔性化和自动化程度。本文在对国内外机器视觉定位技术了解的基础上,分析打磨机器人系统中上下料机器人的原理,将机器人视觉定位技术应用到上下料机器人的控制系统中,利用视觉系统进行定位抓取。把摄像机成像的基本参数作为内部参数,通过旋转矩阵R和平移参数T获得摄像机标定。针对实际的工程首先对机器人本身进行性能测试,再进行安装视觉系统,保证系统整体的稳定性和安全性,通过边缘检测算对图像进行处理,经过不断的调试机器人和视觉系统完成课题。本课题的难点主要是视觉的标定、图像的处理以及坐标的转换。通过机器人视觉技术,不需要预先对其轨迹进行人工示教或离线编程,可直接进行定位抓取,相比于人工机械定位视觉定位灵活性更强、质量更有保证、效率更高,减少了编程时间[2]。工程项目中抓取工件不止一种,因为处理方法基本相同本文只介绍其中一种,针对抓取的柔性化要求及精度要求,建立了一个基于机器视觉定位系统,应用在打磨项目中,负责将毛坯工件抓取放置于二次定位台上。
[Abstract]:The development of robot technology has brought new vitality to manufacturing enterprises, solved the shortage of human resources and improved product quality and working efficiency. The introduction of visual system can meet the requirements of flexible metaplasia. The research of robot control technology based on vision positioning is carried out in this paper according to the actual engineering requirements of Ewalu (Wuhu) Robot Engineering Co., Ltd. [11. Machine vision system is a comprehensive technology, The components of the machine vision system include camera and optical system, lighting system, object to be checked, image acquisition and processing system. Operating equipment interface and external equipment interface. Machine vision can actually be used to replace the human eye with a visual sensor to perform tasks that are difficult or impossible to accomplish manually in a harsh environment on the spot. On the basis of understanding the localization technology of machine vision at home and abroad, this paper analyzes the principle of feeding and unloading robot in grinding robot system. The robot vision positioning technology is applied to the control system of the loading and unloading robot. The basic parameters of the camera imaging are taken as the internal parameters. The camera calibration is obtained by rotation matrix R and translation parameter T. the robot is tested for the actual project, then the vision system is installed to ensure the stability and safety of the system as a whole. The image is processed by edge detection arithmetic, and the task is accomplished by debugging robot and vision system. The difficulty of this subject is the calibration of vision, the processing of image and the transformation of coordinate. It does not need to be taught manually or off-line programming in advance, and can be directly located and grasped. Compared with manual mechanical positioning, visual positioning is more flexible, quality is more guaranteed, and efficiency is higher. The program time is reduced [2] .There is more than one kind of grabbing workpiece in engineering project, because the processing method is basically the same, only one of them is introduced in this paper. Aiming at the flexible requirement and precision requirement of grasping, a machine vision positioning system is established. In the grinding project, it is responsible for grabbing and placing the blank on the secondary positioning platform.
【学位授予单位】：安徽工程大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

【参考文献】