The Research Of Robot System Calibration And Following Control Based On Vision Guidance

If robots in industrial applications should be fully intelligent,machine vision guidance technology plays a key role in the application.Calibration is the key point in visual-guided robots,the precision of calibration directly affects the location of the robots for work-piece.At the same time,visual-calibrated technology in industrial robots is also the premise of off-line programming.This essay selects all kinds of visual robot works as the research object,analyzing the working principle of visual-guided system from practical using perspective andcalibration method,putting a big emphasize on the study of on-line following function in visual-guided system,exploring the changing solving algorithm of coordinate system between robots and camera.The main content includes:1.Analysis working principles in different applications of the robot visual guide sys tem respectively,to establish 2 D,2.5 D and 3 D visual system mathematical model,and select suitable image characteristics for solving the workpiece space position variation.2.5 D vision system is verified by means of the same object in different height after sho oting.Object height information is obtained by image size.2.Set up the 2 d visual guide system based on 2 PM hand-eye calibration model,u sing two feature points on workpiece for robot work coordinate system and image coord inate system to transform between the three parameters.3.Build a industrial robots based on monocular vision,workpiece automatic identif ication and intelligent fetching system of ABB-type IRB120 industrial robot as an oper ating arm,using a CCD camera,motion controller and industrial computer to build the r obot visual control platform,through the establishment of the parameterized model of fe tching system image coordinate to robot coordinate transformation algorithm,using the software provided by the methods of image processing,pattern matching,using kalman filtering algorithm is proposed,under the environment of c + + development.realize the target orientation and robot control two big basic functions,control the robot to comple te final target artifact of fetching.