微装配机器人视觉系统实现

Implementation of the External Vision System for Microassembly System Based on Microrobots

本文建立了一个适合微装配系统的视觉系统,这个微装配系统是基于毫米级机器人的。文中说明了视觉系统的结构,针对实时检测定位的要求,提出了改进的最小二乘法结合Hough变换拟合直线的算法,以满足装配过程的性能要求,并由此构建了一个视觉软件系统,对具体的目标物体进行了识别定位实验。结果表明本文的视觉系统能够提供精确的定位信息给装配系统用以完成装配操作。

This paper describes a vision system for a microassembly system based on mocrorobots and has improved the algorithm in some key steps in the development of machine vision. A vision system has been designed to do some detection experiments. Results show that this vision system used in micro-assembly can provide high accurate parameters to locate microelements during the process of microassembly.