Research On Application Of SCARA Industrial Robot Based On Vision Guidance

Industrial robots have a wide range of applications in modern intelligent manufacturing applications.Robot vision guidance technology has become one of the research hotspots of current machine vision technology due to its practical value.The hand-eye calibration algorithm for SCARA robots is the key to visual guidance technology.The eye-calibration algorithm for hand-eyes has been studied in depth and comparatively analyzed experimentally.The visual positioning accuracy is inversely proportional to the positioning range.In order to improve the positioning accuracy and speed in a large field of view,this paper proposes a dual-camera fusion target step-bystep positioning method,and the positioning method Eye-in-hand and Eye The image processing algorithm of the camera was studied by the-to-hand installation method,in which the main research is the circle center extraction algorithm.In the current automation industrial application scenario,the visual guidance SCARA screw machine is a relatively new solution.In this paper,the step-by-step positioning method of dual camera fusion is applied in the application of SCARA manipulator locking screw,and the positioning accuracy is analyzed experimentally.The main research content of this paper is as follows:1.The SCARA robot hand-eye calibration technique was studied.Firstly,the camera imaging model was analyzed.The Eye-in-hand calibration model and Eye-tohand calibration model of the SCARA arm manipulator were established based on the imaging model.The constraint equation was established and the nonlinear optimization algorithm was used.The conversion matrix parameters between the robot coordinate system and the camera coordinate system are optimized,and the calibration accuracy is improved.In addition,the tool calibration method of the SCARA robot is analyzed,and the moving camera is used as a tool to realize the visual control of the dual camera to the robot.2.Based on the hand-eye calibration algorithm of SCARA manipulator,this paper proposes a step-by-step positioning method for dual-camera fusion to improve the precision and speed of target positioning in the large field of view.The first step is to use a fixed camera for coarse positioning,guide the robot to the specified Mark point for taking pictures,and the second step is to use the moving camera to locate the Mark point in a small field of view to get the coordinates of the Mark point in the robot base coordinate system.Use the CAD drawing of the workpiece to establish the conversion relationship between the CAD drawing and the robot base coordinate system to obtain the position of other positioning targets in the workpiece.3.To study the circle marker centering algorithm in visual positioning.The main research contents include gray-based template matching algorithm and centering algorithm.Based on the commonly used visual open source library Opencv and Halcon,the center of the circle positioning algorithm is developed and the performance is excellent.The EDCircle algorithm will compare and analyze the three center-alignment algorithms that will be implemented.4.Experiments verify that the dual-camera fusion target step-by-step positioning method is of practical value in guiding SCARA manipulators' screws,and analyzes the relative error and absolute error of visual guidance.The absolute error can be within ±0.4mm in a large field of view.The results of the automated production line show that the dual-camera fusion target step-by-step positioning method can meet the application requirements of SCARA manipulator locking screws.