摘要
为实现机器人搬运过程安全管理,设计了以ABB IRB120六自由度机器人搬运过程为研究对象的监控系统。被搬运物体为彩色圆柱形物块,采用固定摄像头监控物块运动,采用Camshift算法识别物块颜色并计算物块质心,实时对比质心位置轨迹与设置运动轨迹,当实际运动轨迹与设置轨迹发生严重偏离时,监控系统发出提醒。最后进行实验验证,系统效果良好。
In order to realize the safety management of the robot handling process,a monitoring system is de原signed,which takes the ABB IRB120 six degree of freedom robot handling process as the research object.The han原dling objects is a color cylindrical block,using a fixed camera to monitor movement process.Camshift algorithm is used to recognize block color and calculate mass center of mass.Comparing the center of mass trajectory and the preset trajectory in real time.The monitoring system sends out a warning when the actual motion trajectory deviates from the setting track.Finally,the experimental verification is carried out,and the effect of the system is good.
作者
李柯
祁宇明
周旺发
杨璐璐
LI Ke;QI Yu-ming;ZHOU Wang-fa;YANG Lu-lu(Institute of Robotics and Intelligent Equipment,Tianjin Vocational and Technical Normal University,Tianjin 300222,China;Tianjin Bono Zhi Chuang Robotics Co.,Ltd.,Tianjin 300222,China;College of Electronic Information and Automation,Tianjin University of Science and Technology,Tianjin 300222,China)
出处
《装备制造技术》
2018年第1期25-28,共4页
Equipment Manufacturing Technology
基金
天津职业技术师范大学研究生创新基金(YC17-15)
天津职业技术师范大学科技成果转化培育类项目(ZHPY1602)
国家科技支撑计划课题(2015BAK06B04)
天津市智能制造科技重大专项(15ZXZNGX00260)
天津市科技支撑计划重点项目(14ZCZDSF00022)
