Research On Industrial Robot Working Path Planning Based On The Machine Vision

With the rapid development of computer science, image processing technology and the robot technology, research and application of machine vision has drawn more attention, and continue to achieve accomplishments in many areas.This dissertation is based on Model. MOTOMAN UP6 industrial robot, which can use image operations information obtained from machine vision. It brings forward a method to realize robotic off-line programming and real-time control. This method is simple, practical, accurate and fast, which can be used widely in industrial robot operation on arc welding, cutting and gelatinization.The author creates a Machine Vision systems based on MOTOMAN UP6 robot, which is made up with camera, image grabbing card, computer, robot and system software. By using machine vision systems, the author acquires image information of robot operation path, and processes and analyzes them, then locates the characteristic points of the image, achieves operation path planning, controls robot to accomplish its tasks finally.In this paper, which comes first is industrial robot and related knowledge and then analyzes robot working path planning with robot kinematics theory. And then it describes in detail in hardware and software components of an industrial robot vision systems. On the aspect of getting images of robot working path, the author establishes the image calibration method according to the camera imaging principle.On the basis of traditional method of calibration, considering with the actual situation, the author proposes methods of calibrating and correcting cameras inside and outside parameters. On the aspect of processing images of robot working path, the author explores image processing methods and image recognition process aiming at working path, and obtains information of the image feature. With which the author realizes the planning of robot working path by using robot movement control programs coming from self-developed softwareTo repeat testing, debugging and revision process many times, the author completes the on-line experiment of industrial robot working planning and tracking based on the machine vision. The result of the research proves it feasible and practical, but also it has shortcomings need to be improved and possible develop direction in future.