基于视觉的机器人抓取技术的研究

该文提出了一种基于智能相机的机器人抓取系统,采用图像处理算法对相机捕获到的图像使用模板匹配、边缘查找及坐标变换,得到工件在机器人坐标系的位置和姿态,通过串口将处理后的工件位姿数据发送给机器人控制器,控制器向机器人发送运动指令。经实验验证,系统达到设计要求,在工业机器人系统中引入计算机视觉提高了机器人的柔性以及对环境的适应能力。

Research on industrial robots scraping technologies based on vision

In this paper, a grasping system of robot based on the intelligent camera is proposed. The image processing algorithm is used for template matching, edge locating and coordinate transformation of the image captured by the camera, and then the position and posture of the workpieces in the robot coor-dinate system are obtained. After the position data is processed and sent to the robot controller, the con-troller sends motion instructions to the robot. Experiments show that this system meets the design require-ments and the introduction of computer vision in the industrial robot system improves the flexibility of the robot and the ability of adaptability.