基于双目视觉的六自由度工业机器人控制系统研究

目前机器人视觉系统正越来越广泛地应用于视觉检测、视觉引导和视觉装配领域。为了使机器人能够快速准确地识别、检测、抓取工作台上的工件,该文设计了一套双目视觉的六自由度工业机器人控制系统。文中以张正友摄像机标定法为理论依据研究双目视觉合成技术,利用MATLAB摄像机标定工具箱分别获取左右摄像机的内外参数;通过建立机器人用户坐标系、摄像机坐标系以及世界坐标系实现了空间坐标转换;由OpenCV图像处理算法获得工件坐标位置,控制系统驱动机器人实现工件抓取。

Research on industrial robot with six degrees of freedom control system based on binocular vision

The robot vision system is increasingly widely used in visual inspection,visual guide and in the field of visual assembly.In order to make the robot can rapidly and accurately identify,test,grab the workbench artifact,this paper designed a set of six degrees of freedom of binocular vision industrial robot control system.Based on the theory basis for camera calibration method which invented by Zhang Zhengyou to research the binocular vision synthesis technology.Using MATLAB camera calibration toolbox to respectively get inside and outside the parameters of the right and left camera,through the establishment of a robot user coordinate system,the camera coordinate system and world coordinate system and realized space coordinate transformation,and by the OpenCV image processing algorithm for workpiece coordinates,at last drive the robot control system implementation artifacts fetching.