摘要
描述了一种利用机器视觉技术的工业机器人定位系统,可用于飞机小型零部件的装配定位和复合材料胶结部件的加压保压等作业。系统利用双目相机对目标工件上的反射靶标进行测量,获取机械臂末端与工件间的相对位姿关系,系统控制模块根据位姿反馈驱动末端进行位姿调整,实现末端对工件的精确定位。利用激光跟踪仪对位姿偏差进行测量,结果表明位置误差为0.11mm,姿态误差为0.04°,在定位精度和稳定性方面均能满足实际应用需求。
An industrial robot positioning system based on machine vision which applies to aircraft assembly and packing was introduced in this paper.The system measured the reflecting target affixed to part by binocular camera and calculated the pose between end effector and part as the feedback of control system to drive the end effector to move to precise position.A series of precision measurement experiments were performed by laser tracker.The results show that position uncertainty is 0.11mm,angle uncertainty is 0.04°,positioning accuracy and stability can meet the practical application requirements.
作者
冯志刚
李泷杲
熊天辰
江一帆
Feng Zhigang;Li Shuanggao;Xiong Tianchen;Jiang Yifan(College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics ＆ Astronauticso Nanjing 210016, China;Jiangxi Aerospace Haihong Test ＆ Control Co. Ltd., Nanchang 330013, China)
出处
《航空科学技术》
2018年第6期48-53,共6页
Aeronautical Science & Technology
基金
航空科学基金(2016ZE52053)~~
关键词
双目视觉
工业机器人
装配定位
视器视觉
binocular vision
industrial robot
assembly location
machine vision
