Key Technology Of The Vision System Of High-speed Parallel Robot

The dissertation is focused upon the development of the vision system for ahigh-speed and light-weight parallel robot. Techniques including system design,system calibration, development of the vision software, online experiment areproposed here.The following work has been completed:q Aimed at the application demand and the control environment of the manipulator,the running mode of the vision system is settled. Based on this, combining theobjective of the whole system, the vision system is designed in terms of the logicconfiguration of machine vision.q A flexible camera calibration technique is presented here. Based on thehomographies of the 2D information between the calibration model and theirimages and the constraints of the intrinsic parameters, the intrinsic and extrinsicparameters of the camera are obtained via solving linear equations and nonlinearoptimization. The whole system is calibrated in succession.q Guided by the machine vision theory, the vision software adapting to themanipulator is developed based on Virtual Instrument platform. As a modulecontaining image acquisition, image processing, data analysis etc, the precisionand speed of the software fulfilled the system demand.q The vision system and the control system have been integrated to the robot at last,which accomplished the intelligent operation of pick-and-place. The speed andthe precision are assured simultaneously.