面向粗定位工件的涂胶机器人系统设计与实现

摘要

In order to solve the operation problems of glue-robot aiming at the rough-localization work-piece in automatic assembly line, this paper introduced a glue-robot self-correction sysytem which detects the workpiece pose based on vision search and position in advance. At the same time, it put focus on the descriptions which include the laser visual search-positioning process, mathematical model and detection algorithm of the workpiece pose detection, and the robot trajectory correction programming, etc. Experiments show the robot system have better adaptability when the pose of the Cubic components changes in a small range.%为解决自动装配生产线上针对无精确定位工件的涂胶机器人作业问题,提出了采用视觉搜索定位来事先检测工件位姿的机器人自校正系统,并着重阐述了激光视觉搜索定位的流程、工件位姿检测的数学模型及检测算法、机器人作业运动轨迹修正程序设计等的实现.实验证明,对于在小范围内位姿变化的箱体类作业对象,该机器人系统作业具有较好的自适应性.