Research on industrial robot alignment technique with monocular vision

Jin-zhou LEI; Ling-bin ZENG; Nan YE

doi:10.3788/OPE.20182603.0733

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Research on industrial robot alignment technique with monocular vision

Information Sciences | 更新时间：2020-07-05

- Research on industrial robot alignment technique with monocular vision
- Optics and Precision Engineering Vol. 26, Issue 3, Pages: 733-741(2018)
- 作者机构：
  
  1.南京航空航天大学机电学院, 江苏南京 210016
  2.上海宇航系统工程研究所, 上海 201109
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20182603.0733
  CLC： TP391
- Received：03 July 2017，
  
  Accepted：18 August 2017，
  
  Published：25 March 2018
- 稿件说明：
移动端阅览
Jin-zhou LEI, Ling-bin ZENG, Nan YE. Research on industrial robot alignment technique with monocular vision[J]. Optics and precision engineering, 2018, 26(3): 733-741.
DOI：

Jin-zhou LEI, Ling-bin ZENG, Nan YE. Research on industrial robot alignment technique with monocular vision[J]. Optics and precision engineering, 2018, 26(3): 733-741. DOI： 10.3788/OPE.20182603.0733.

摘要

针对工业机器人精确对准问题，提出了一种基于单目视觉的工业机器人对准技术。该技术把工业机器人与单目视觉测量技术相结合，根据特制的手眼标定板，快速建立单目视觉测量系统与机器人上对准轴之间的手眼关系和对准的基准位姿；在对准环节，通过单目视觉系统获取工件目标的姿态，然后根据已有的手眼关系和基准位姿，求解在机器人基坐标系下机器人末端的对准轴的位置调整量，迭代调整机器人末端位姿，从而实现了机械人末端的对准轴与工件目标的精确对准。实验结果表明：在测量距离约是150 mm处，对准平均精度优于0.2°。

Abstract

Aiming at the problem of precise alignment of industrial arm

an industrial robot alignment method based on monocular vision is proposed. Combining the industrial robot with monocular vision measurement and a specialized hand-eye calibration panel

the method is able to quickly establish the hand-eye relationship between the camera coordinate system and the alignment axis on the robot's end-effector. In the alignment stage

the attitude of the workpiece is obtained by monocular vision system

and then according to the existing hand-eye relationship and datum posture

the position and orientation between the alignment axis and the workpiece of the alignment axis are evaluated. The experimental results show that the average precision of the alignment is better than 0.2° under the measuring distance of 150 mm.

关键词

Keywords

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