摘要
以美国国家仪器公司的视觉开发模块NI Vision为软件支撑和以ABB-IRB120型机器人,摄像机和传送带为硬件基础,对视觉识别与检测系统进行了模块化设计,构建了一个基于单目视觉的工业机器人工件自动识别和智能抓取系统,其中ABB-IRB120型工业机器人作为操作手臂,用CCD相机、运动控制器和工控机搭建了机器人视觉控制平台,通过建立抓取系统的参数化模型给出图像坐标到机器人坐标的转换算法,利用NI Vision中提供的图像处理、模式匹配等方法,在C#环境下进行开发,实现了目标定位和机器人控制两大基本功能,最终控制机器人完成目标工件的抓取。
Supported by U. S. National Instrument＇s NI Vision software, ABB IRB120 robot, CCD camera and conveyor belt, the automatic recognition and intelligent grasping system for industrial robot is developed. Using the ABB IRB120 robot as the manipulator, a robot vision control platform with CCD camera, motion controller and industrial PC is constructured. In this platform,image coordinate system can be transformed to robot coordinate system through camera calibration. Developed in C# environment and using the image processing and pattern matching method which are provided by NI Vision, the system implements the two basic functions of target positioning and robot control. Finally grasping the target-workpiece is completed by controlling the robot.
出处
《机械设计与研究》
CSCD
北大核心
2014年第5期45-49,共5页
Machine Design And Research
基金
广东省战略性新兴产业项目(2011A091101001)
广东省科技计划资助项目(2012B090600028)
中山市科技计划资助项目(201207B001)
