Auto Brand Attachment Method of Magnitude Changing Objects Using Robot Pose Adjustment Algorithm

摘要

PURPOSE: A method for attaching a trademark automatically of a size-variable workpiece using a robot pose correction algorithm is provided, which improves a productivity by automating the trademark attachment by detecting contours of the size-variable workpiece accurately. CONSTITUTION: According to the method, an image diagram of a workpiece is obtained by an imaging camera. If a position and a direction of the workpiece image is varied, data as to the varied center position on an image coordinate is calculated using an image plane function relation. And the whole region and contours and the center position of the workpiece are detected by measuring a size variation of the actual workpiece on a space coordinate with the calculated data. Then the imaging camera is calibrated using a peculiar parameter. Then a conversion relation of the workpiece is analyzed with a position conversion vector and a rotation conversion matrix by obtaining a conversion matrix of a camera coordinate. Then, a pose of a robot is corrected with the analyzed conversion relation of the workpiece.