Design And Realization Of Six-Axis-Robot Based On Vision System

A robot-vision system applied for detecting the shape-parameters of different-shaped objects is introduced. The developments of machine vision for present situation as well as the prospects are introduced firstly, and then basic principles for visualized detecting technology are elaborated. The dissertation presents the design for manipulator capture both in hardware and in software. In the hardware design for manipulator vision system, an intelligent robot-vision system based on the intelligent camera is proposed, and the Blob algorithm principle is used in the application program for the software designing. It utilizes accumulate-difference-image-algorithm to search objects and Blob-analysis method to recognize the center of objects with arbitrary form and the angle between axis and arbitrary hypotenuse of objects. An intelligent camera with TMS320C64X series DSP is adopted as the hardware platform of the system. The VC intelligent vidicon is used to fulfill the collection and quantification of scene picture data, and an embedded-operating system and developing platform are involved to implement the corresponding target-localization program. The merits of the system are the high integration rate, the small hardware equipment volume, the light weight, the convenient installation and the quick processing speed of software, the higher processing quality, and so on. The massive experiments indicated that the system can meet the requirements of system design, the target recognition rate can reach 100%, and the localization relative error is less than 10%.The system can be widely used to the different machine vision fields in industry with different application programs, especially in picture detection, superficial examination, automotive industry examination and so on. At present, the system has completed the installment and the debugging work of software and hardware, the test results have already indicated that achieved the anticipated goal.The main works of the dissertation are as follows:1. Expounded the related literatures in domestic and foreign, including current developments and tendency in the machine vision and the image processing aspect;2. Introduced the basic concepts of machine-vision and composition of the system, especially the basic theory on digital picture processing;3. Reported the design and realization of the hardware parts for robot-vision system, including the market investigation and study before purchasing hardware equipments, the model selection of hardware, the decision-making, assembly and debugging; 4. Reported the design and realization of the software system of robot-vision system, including the method for recognizing the center of objects with arbitrary form and the angle between x-axis and arbitrary hypotenuse of objects with different shapes. The procedure of program-written and debugging, program-solidified in the DSP chip, which embedded in the intelligent camera, are introduced as well. Experiments are carried out aimed at different-shaped targets;5. Analyzed the errors between testing results and actual values and pointed out the main error sources in survey process,6. Carried on the design, programming and the simulation experiments to the robot-control system. Analyzed the resources of error. The simulating result indicated that the design of manipulator-capture control system in the paper can work normally, the proposed capture-control algorithm is simple and practical in use.