Research On Robot Control Technology Based On Vision Localization

The development of robot technology has brought new vitality to the manufacturing enterprises,to solve the shortage of human resources and improve the product quality and work efficiency,simple robot technology is restricted in some high-end applications,and the visual system can meet the requirements of flexible students,promote the intelligence and the automation process.Based on the requirement of Efort Intelligent Equipment Co.,Ltd to carry out study on control technology of robot based on vision localization.The robot vision system is a comprehensive technology,involveing many subjects,the coordination of successful applications in practical engineering.The system consists of a camera and an optical system,a lighting system,an object to be examined,an image acquisition and processing system,an operating device interface and an external device interface.Robot vision is actually the use of visual sensors to replace the human eye to adapt to the harsh environment of the site to complete the task of artificial difficult or impossible to complete,improve the flexibility and automation of production.Based on the understanding of domestic and foreign robot vision localization technology,principle analysis of feeding robot on polishing robot system,robot vision localization technology is applied to the control system of robot on the upper and the lower localization system using visual capture.The basic parameters of the camera are taken as the internal parameters,and the camera calibration is performed by using the rotation matrix R and the moving parameter T.Based on the actual engineering of the robot itself for performance testing,and then install the visual system,guarantee system stability and safety of the whole,through the edge detection algorithm for image processing,through continuous debugging and robot vision system to complete the task.The difficulty of this subject is the visual calibration,image processing and coordinate transformation.The robot vision technology,do not need to advance the trajectory of manual teaching or off-line programming,can be directly positioned grab,compared to the artificial mechanical localization visual localization more flexible,more quality assurance,higher efficiency,reduced programming time.Project grasping is more than one,because the same basic processing method this paper introduces only one,according to the flexible requirements capture and accuracy requirements,based on the robot vision system used in grinding project,will be responsible for grasping is placed in blank two localization table.