Research Of Industrial Robot Workpiece Handling Technology Based On Visual Guidance

With the continuous development and maturation of technology, industrial robotshave become indispensable equipment and means in the field of modern industrial, andhave been widely used to complete a variety of operations such as workpiece handling,loading and unloading, etc. Traditional teach robots require precise point-by-point teachingfor completion of these operations. The traditional robots cannot carry out the recognitionand positioning of workpiece, so they have strong limitations. In response to theseproblems, this paper introduces machine vision for researching the technology of industrialrobot workpiece handling. The main work in the paper can be summarized as follows:1. Camera CalibrationThe paper determines monocular vision program and describes the principles andmethods of camera calibration firstly. Then, the paper carry out the camera calibrationexperiments based on Zhang Zheng-you calibration method, calculates the internal andexternal camera parameters and distortion coefficients.2. Workpiece identification and positioningA workpiece recognition algorithm of Hough-Chain code is developed. The objectwhat the algorithm identifies is the shape of regular geometric workpiece. The workpiecepositioning is realized by calculating the center of workpiece surface and the direction ofworkpiece long axis. The experiments show that the above algorithms are able to identifyand position workpiece accurately.3. Kinematic AnalysisThe paper introduces the basics of robot kinematics and analysis the structure and linkparameters of RH6-A robot, establish the kinematics equations of the robot. A simplemethod of inverse kinematics is provided based on geometric principles. The method isonly a small amount of calculation to obtain accurate results. Finally, the trajectory ofrobot workpiece handling process is planned.4. OpenGL modeling and simulation The paper describes the composition, working methods and characteristics ofOpenGL in detail, and builds the OpenGL application framework based on thedevelopment environment of VC++6.0. The static and dynamic models of the RH6-Arobot, workpiece and scene are set up and the dynamic simulation of workpiece handling isrealized.