| Vision is one of the main means for industrial robot to obtain environmental information, and the application of the vision system can effectively improve the assembly operation accuracy and flexibility of the robot. According to the requirement of pratical project and aiming at accurate recognition and positioning technology in the process of workpiece grasping and placing, the application and development of vision software for robot handling and assembling operation is presented in this dissertation.In order to complete the robot handling and assembly operations, KUKA KR16-2 industrial robot platform and monocular camera Eye-in-hand Vision System based on PC is constructed in this dissertation. For automatic identification and positioning of typical workpiece in assembly task, secondary development software based on VisionPro is completed, and software based on HALCON vision library is realized on the basis of referring function application and module structure of VisionPro.The research status of assembly robot technology based on vision at home and abroad is firstly introduced, then the typical assembly process requirements are analyzed, and the selection process of camera, lens and light source are described, and the overall structure and design scheme of the assembly robot vision system is given. For the environment construction of the assembly robot vision system, two kinds of hand eye calibration method are presented, and the camera IO module and ethernet communicaiton module is designed and implemented. To realize the positioning technology of workpiece, the visual function development process is described in detail, and the deviation in X,Y,Rz directions of robot coordinate system is obtained through template matching and vision calibration technology, and the workpiece grasping strategy based on deviation compensation is proposed to solve the problem of workpiece handling in the case of inaccurate position. Lastly, vision software is developed based on HALCON algorithms library, with the design and realization of image acquisition, camera calibration, target positioning and classification module discribled in detail and the function of each module tested. Based on above achievements, the scheme of robot assembling is designed, combined with compliant force control, the handling and assembly operation for typical workpiece is implemented under the guidance of vision, and the positioning accuracy and time performance meet the excepted requirements. |
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