Using 3D Matching for Picking and Placing on UR Robot

摘要

Due to Conventional industrial robot moving has been known that programing is either tedious or simplex and operating platform requires a pure environment without unnecessary distractions from other objects. This paper presents a novel method which using shape based 3D matching technology for picking and placing object by UR robot. This method is able to help the robot catch a specified object in any complex environment. To do this, we need only one camera and the targets' 3D CAD model. There are many efforts was indeed carried out in order to improve the control accuracy, first, the 3D coordinates of the interested points should be high-resolution calculated with the images that are provided by the camera and we use a special method to optimize internal and external camera parameters when calibrating the camera, Then, A 3D-matching-operator is used to search for the specific objects in the real-time images based on the given 3D model, which is realized by projects the edges of the 3D object model that was used to create the 3D shape model into the image coordinate system and return projected edges. Finally, the coordinates of the 3D object model are obtained in the PTU coordinate system through the integration of a PTU and a Laser range finder, and a transformational matrix is obtained for calculating the coordinates of the targets on UR robot's base coordinate system. Based on this technology, users only simply need to import a 3D CAD model and click on the image of the workplace to define the end point, the robot will exceed the procedure of pick and place automatically.