The Design And Realization Of Software System For Horizental Robot With Machine Vision

Robotics is a multidisciplinary, highly-advanced application area, proving the power of a country in modernization. With Robotics developing rapidly, industrial robots are of great improvement in accuracy, efficiency and intelligence integration, thus becoming progressively important. In information feedback, robotic systems based on visual servo have largely expanded their information window by directly obtain graphic information from images, which is a big leap of robotic sensing. On the aspect of slave computer, it is a trend that motion control cards are adopted for robotic position control because they are cheap, enough accurate and friendly-use at the same time. The main contents are as follow:(1) The general design of this system: SCARA robot is chosen as the experimental entity and a Gugao motion control card as the core controlling lower board. The software system is developed on Microsoft Visual Studio 2008 platform and based on Qt application framework. The system is modulized and divided into algorithm module, visual processing module and motion control module with designing, coding testing.(2) The design of motion control algorithm module: this module is in charge of path planning calculation. In this dissertation, D-H approach is used to build space model of the system. First the forward and inverse kinematics of the robot are resolved and one step further the interpolation algorithm in both joint space and Cartesian space are real developed. Then 3-dimension simulation is also conducted by using Robotics Box. Finally algorithms are coded on computer with experiments and certifications being carried out.(3) The design of graphic processing module: visual calibration and image processing are studied in this part. Both functions are developed based on Halcon--a world-famous visual processing software. And the specific completed functions are: camera calibration, hand-eye calibration, graying, filtering and noise reduce, binarization and shape matching. Through these steps, graphic coordinate can be convert to coordinate in robot space.(4) The design of motion script and logic control module: Design and resolve the motion script which is developed all by our group by embedding Lua interpretor in C++. In this system, Sequential, conditional and circular logic are supported in this system, and further more the embedded logical structure of all logical relations mentioned above is supported as well in the script.In this dissertation, both line and arc path planning algorithm based on cubic interpolation are proposed by combining classic path planning algorithm and interpolation algorithm with realization, experiments and certification. In visual processing module, calibration is relatively precise and after graphic processing the coordinate of objects’ center of gravity can be extracted at a reasonable accuracy. Motion control script is developed by embedding Lua interpreter in C++ program to explain logical structure of the script like if and while. The robot system has reasonably met the standards of practical use according to primary tests and experiments.