基于单目视觉的装配机器人研究及应用

Study and Application of Monocular Vision-Based Assembly Robot

针对传统工业机器人灵活性和环境适应能力差的缺点,对视觉机器人的关键技术进行了研究,提出了一套完整的识别定位抓取算法。首先,对于视觉机器人的目标识别跟踪问题,设计并实现了基于改进型Camshift的动态目标识别跟踪算法;其次,为了使机械臂精确抓取目标工件,采用单目视觉测距和视觉导航的原理对于目标工件的三维位置进行获取;最后,采用改进D-H参数法对机械臂进行运动建模,利用正逆运动学分析确定了机械臂控制方案。测试结果表明,识别算法识别成功率达到100%,定位算法测量坐标与实际坐标之间的相对误差小于5%,整体装配成功率达到96.7%,最终达到了基于单目视觉装配机器人研究的应用目标。

The flexibility and adaptability of traditional robots are pretty poor.This paper focuses on the key techniques of visual robots and puts forward a complete set of recognition,location and grasping algorithms.To solve the problem of target recognition and tracking,an improved method of dynamic target recognition and tracking based on Camshift is designed.In order to improve the success rate of grabbing target,the monocular visual ranging and visual navigation theory are used to measure the target center＇s spatial position.Then,a robot arm model is established using modified D-H parameters.The forward and inverse kinematics are used to get the control scheme of mechanical arm.The final test shows that the recognition rate of the algorithm is 100%,the relative error between the measured and actual coordinates is less than 5%,and the overall assembly success rate is 96.7%.The results prove that the present key techniques of visual robot can satisfy the application requirements.