Aiming at the problem of industrial robot sorting workpiece by machine vision, a simulation system of industrial robot sorting is developed. The system based on OpenGL graphic library on VC++6. 0 IDE consists mainly of workpiece identification and location algorithm, dynamic simulation of the robot sorting. The workpiece identification is realized by corner detection. On the basis of calculating the center and long axis of workpiece surface, the paper presented a new kind of robot inverse kinematics on the basis of the geometric principles, verified the correctness of robot kinematics analysis. And the dynamic simulation of the robot sorting workpiece is realized intuitively. The experimental results show the system can quickly and accurately sorting workpiece. The system satisfies the requirement of practical applying.%针对工业机器人视觉分拣工件问题,开发了一套工业机器人分拣仿真系统.该系统主要包括工件的识别与定位算法和机器人分拣的动态仿真,是基于VC++6.0开发平台和OpenGL图形库而开发的.工件识别是依赖于角点检测实现的.本文在确定工件表面中心和长轴的基础上,基于几何原理提出了一种新的机器人运动学反解方法,并验证了运动学分析的正确性,且直观地实现了机器人分拣工件的动态仿真.仿真结果表明,该系统能够快速、准确分拣工件,满足实际工程的要求.
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