Research On The Industrial Robot Coordinating Assembly Method Based On Vision

Robotics is a kind of highly advanced technology integrated with other numeroussubjects like Computer science, Artificial Intelligence, Biology, Information technology andSensing technology. The research of robotics is very active and the application of it isincreasingly wide, especially in the industrial production. In order to improve industrialproduction efficiency, various industrial robots with different functions has been invented anddeveloped since the1950s.they were widely used to accomplish some kinds of dull, repetitive,and heavy work. With the fast development of our society, people propose higher demands inindustrial robots applications, hoping that industrial robots will be more independent to somespecific work and adaptive to the environment changes and be capable of respondingintelligently.Visual attention mechanism is a key technology in selecting particular regions frommassive amounts of information imputed by humans, providing reliable guarantees forintelligent vision system. In the traditional part assembly system, the position of the parts isoften fixed at first, once it changed when working, the result will hard to predict. In the paper,the mechanism is introduced into the parts assembly system by industrial robots. By this wayindustrial robots can identify target objects in working space when assembling parts.Moreover, they can guide industrial robots to gripping parts by accurate positioning.There have been researches in industrial robot applications at home and abroad before,but most of them especially domestic literature focus on a project of a single robot with singlemechanical arm, and little researches concern with coordination and control by multiplerobots with multiple mechanical arm. Considering the current technological development, asingle robot is limited in information acquisition, processing and controlling. When dealingwith complex tasks and diversified working environment, multi-robot coordination hasobvious advantages. To solve the problem that a single robot is unable to complete partsassembly task perfectly, this paper puts forward a master-slave coordinating control method,and divide two industrial robots into a master robot and a slave robot, The movement ofmaster robot is planned by specific tasks of parts assembly, while the movement of slave robot is figured out by the constraint relation of position and posture between the master andthe slave robots.