摘要
研究工业机器人自动铆接视觉辅助定位方法,通过多项式拟合十字线结构光的相平面曲线获得铆接孔附近壁板的三维信息,并利用图像中位置关系信息,运用插值法完成铆接孔的位置和姿态的理论计算。这种方法能够引导机器人末端在规划路径下实现铆接孔位置与姿态的修正,满足常规铆钉通用应用范围内的工业机器人自动铆接在线定位与施铆的精度与实时性要求。
The vision aided positioning method of automatic riveting for industrial robot is studied. The cross linkstructured light curves which are reflected on the camera plan can be obtained by polynomial fitting method, are used tocalculate the three dimensional information of aircraft surface. Position and posture of riveting hole can be calculated by theinterpolation method according to the three dimensional information of aircraft surface and the corresponding relationshipbetween the riveted hole and the curves of the cross link structured light. The position and the attitude of the riveted holecan be revised well for the end of an industry robot that is working with the planning route mode. The accuracy and the realtime performance can be realized when industry robot automatic riveting under a common application range with commonrivets.
出处
《航空制造技术》
2018年第4期55-59,共5页
Aeronautical Manufacturing Technology
基金
沈阳市科技计划项目(F16-216-6-00)
