摘要
为了提高自动化装配任务中高节拍机器人抓取工件的位置精度与效率要求,提高工作节拍时间,搭建了基于视觉的SCARA机器人抓取平台,同时开展了抓取工件的实验研究。使用Open CV完成摄像机标定,运用改进的霍夫变换算法进行工件轮廓检测,根据抓取平台的机械结构和运动特点,完成抓取作业;最后,对多次抓取实验结果进行研究分析。结果表明,该抓取平台具有较高的工业生产应用价值,其定位误差在0.5mm范围内。
In order to improve precision of grabbing work position and efficiency requirement, to improve the work take time during the automatic assembly task with high tempo robot , setting the fetching platform of the SCARA robot based on vision,and carrying out the scraping of the artifacts of the experimental research. Using OpenCV to complete the camera calibration, using the improved Hough transform algorithm for the work to contour detection, according to the mechanical structure and movement characteristics of fetching platform, complete assignments to grab; Finally, through analyzing the experimental results with several times. Results show that the scraping of the platform has higher applied value in industrial production, the positioning error in the range of 0. 5 mm.
出处
《组合机床与自动化加工技术》
北大核心
2016年第11期53-56,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
安徽省科技重大专项:基于智能机器人的高节拍冰箱压缩机装测生产线研制(15czz02016)
