摘要
为避免工业机器人码垛过程中出现物料错位、物料摆放位置不准确等问题,基于实际问题,设计了基于视觉的工业机器人码垛控制系统。该系统利用欧姆龙视觉系统,得到了各个物料两个标记点在相机坐标下的位置信息,通过Socket通信,将信息传送给机器人;通过分析机器人运动学算法和坐标融合方法,得到了图像数据与机器人基坐标的关系;通过编写机器人RAPID程序,实现了物料摆放位置修正运动。试验结果表明,物料的放置位置误差均值在基坐标的X、Y方向分别被控制在了0.2 mm和0.3 mm内。所述控制方法实现了工作区域内物料的准确定位,精度高,鲁棒性好,满足了工业使用要求。
In order to avoid the problems of material dislocation and inaccurate material placement in the process of industrial robot palletizing,a visual palletizing control system for industrial robot was designed.The system uses Omron vision system to get the position information of two marker points of each material in the camera coordinates,and transmits the information to the robot through Socket communication.By analyzing the robot kinematics algorithm and coordinate fusion method,the relationship between the image data and the basic coordinates of the robot is obtained.By writing the robot RAPID program,the material placement position correction movement is realized.The test results show that the mean value of material placement error is controlled within 0.2 mm and 0.3 mm in the X and Y directions respectively in the base coordinates.The control method realizes the accurate positioning of the material in the working area,with high precision and good robustness,and meets the requirements of industrial use.
作者
刘天宋
张俊
张任天
徐晶
马中印
LIU Tiansong;ZHANG Jun;ZHANG Rentian;XU Jing;MA Zhongyin(Jiangsu Union Vocational and Technical College Changzhou Liu Guojun Branch,Jiangsu Changzhou 213025,China)
出处
《工业仪表与自动化装置》
2023年第1期51-55,126,共6页
Industrial Instrumentation & Automation
基金
江苏高校“青蓝工程”资助项目
常州市科技局应用基础研究项目(CJJ20219005)。
关键词
工业机器人
视觉检测
位置修正
ABB
industrial robot
visual inspection
position correction
ABB
