工业机器人视觉定位技术研究与应用

摘要

Workpiece grasping method of industrial robot based on vision positioning is described and implemented in this paper.Camera calibration and hand-eye calibration based on professional image processing software is realized in Eye-in-Hand robot system. For workpiece with features of paral el edge,a method based on edge extraction and curve fit-ting and coordinate acquisition of grasping point through the midpoint of paral el line segment is proposed.%研究并实现了一种面向工业装配机器人的工件视觉定位方法。采用专业图像处理软件对Eye－in－Hand（眼在手上）工业机器人视觉系统进行摄像机标定和手眼标定。针对具有对边平行特征的工件，提出了一种基于边缘提取和曲线拟合并通过平行线段中点获取二维抓取点的策略，最后利用标定数据确定工件抓取点空间目标位姿。