柔性连接龙门式机器人实时图像处理与多轴联动抓取

Real-time Image Processing and Multi-axis Linkage Grasping of Flexibly Connection Gantry Robot

面向柔性连接龙门式机器人,在实现视觉识别、检测与抓取等工程应用方面开展研究。在现有工作平台的基础上,建立工业相机系统试验平台,并进行标定,标定试验误差小于0.07像素。基于LabVIEW和NI Vision开发完整的图像处理算法与多轴联动抓取算法,能够快速准确地执行图像检测和目标定位任务。试验测得数据标准差约为0.47、0.41,相对误差约为0.85%、0.65%。实现多轴联动对工件样本的抓取,抓取定位相对误差在0.2%以内,具有较高的准确性。

For the flexible connection gantry robot,research was carried out in the realization of engineering applications such as visual recognition,detection and grasping.On the basis of the existing working platform,an industrial camera system test platform was established,the calibration was carried out,and the calibration test error is less than 0.07 pixels.Based on LabVIEW and NI Vision,the complete image processing algorithm and multi axis linkage grasping algorithm were developed,which can quickly and accurately perform image detection and target positioning tasks.The standard deviations of the measured data are about 0.47 and 0.41,and the relative errors are about 0.85%and 0.65%.The grasping of workpiece sample by multi axis linkage was realized,and the relative error of grasping and positioning is within 0.2%,which has high accuracy.