Research On 3D Inspection System Of UR Robot Based On Structure Light

With the rapid development of China's economy,industrial robots are gradually being applied to modern industrial production.Improving the intelligent sensing ability of industrial robots is a hotspot in the research of industrial robots.It is of great significance to apply visual inspection technology to the field of industrial robots.It is important to improve the processing quality,work efficiency,adaptability to the environment and expand the scope of robot application.This paper focuses on the intelligent detection in modem industrial production.Comb:ining the line structure light three-dimensional detection technology in visual inspection with UR robot,a set of UR robot structure light three-dimensional detection system is designed.The main research contents are as follows:1.The principle and measurement model of visual inspection in this system are mainly studied.For the six-degree-of-freedom UR robot structured light three-dimensional detection system that acquires the three-dimensional information.of the measured object,the main points of the UR robot technology are analyzed.Robotic forward and inverse kinematics are the core part of guiding robot movement.This paper analyzes the kinematics of UR robot based on D-H parameter method.The forward and reverse kinematics of the robot are solved by analytical method.The pose and the joint angle of the robot are obtained,and the singularity of the robot is analyzed.2.The calibration model of UR robot structured light 3D inspection system is analyzed,including camera calibration,hand eye calibration and light plane calibration.The singular value matrix decomposition method is used to solve the pose of the light plane.And the conversion relationship between the coordinate systems of the system is analyzed.3.The hardware part of the system is selected for the overall requirements of the inspection system and the working distance of the inspection,including cameras,lenses,lasers and UR robots.The hardware structure of the camera and laser bracket is designed.Finally,the hardware and software design of the UR robot structured light 3D inspection system is completed,and it meets the actual testing requirements.4.The calibration and detection of the UR robot 3D inspection system were carried out.The feasibility of the system was verified by experiments and the experimental results were analyzed.