摘要
针对工业机器人在搬运工件过程中容易出现拾取位置偏差的问题,以MOTOMAN-SV3X机器人为对象,研究开发了具有视觉定位及位置调整功能的工业机器人搬运系统。介绍了该系统的组成、工作流程、机器人位姿描述,并提出一种解决拾取位置偏差问题的方法,为机器人搬运技术提供了一套自动化、柔性化的应用方案,从而提高搬运精度和效率。
Aimed at the problem that there are pick-up position deviations in the process of industrial robots transporting workpieces,by taking the MOTOMAN-SV3 X robot as the object,a industrial robot handling system was researched and developed,which has the functions of visual positioning and position adjustment. The system was introduced of constitutions,workflow,and robot pose,and a method of solving the problem of pick-up position deviation was proposed. It provides an automated and flexible application program for industrial robot handling technology,thereby improves handling precision and efficiency.
出处
《机床与液压》
北大核心
2015年第9期17-20,共4页
Machine Tool & Hydraulics
基金
国家自然科学基金资助项目(51375145)
关键词
视觉信息
工业机器人
搬运系统
位置偏差
Visual information
Industrial robots
Handling system
Position deviation
