Development Of Industrial Robot Assembly System Based On Machine Vision

Machine vision technology plays an important role in industrial robots,which gives industrial robots the ability to perceive the environment,thereby increasing the flexibility and intelligence of industrial robots.This thesis discusses and studies the industrial robot assembly technology based on machine vision,and completes the development of robot vision assembly system.Firstly,according to the functional requirements and performance index requirements of the robot vision assembly system,the overall design scheme of the assembly system was formulated,and the hardware selection was completed,and the hardware platform of the system was built.Secondly,in order to realize the position measurement of the vision system,the author uses the multi-camera visual positioning method combining Eye-to-Hand and Eye-in-Hand system.In the process of realizing this method,the camera calibration technology and the robot hand-eye calibration technology are mainly studied,and the internal and external parameters of the camera in the system are determined through relevant experiments.Combined with these parameters,the target vision is realized by extracting the image features of the target Positioning.Then,the obstacle avoidance problem of the manipulator in the assembly process is discussed and analyzed.The obstacles are used to model the obstacles in the industrial robot working environment,and the obstacles in the working environment are realized by the minimum encirclement circle algorithm Identification and positioning.According to the obtained obstacle information and target information,the artificial potential field method is used to path the obstacle avoidance of the mechanical arm,so as to realize the obstacle avoidance function during the assembly process of the mechanical arm.Finally,according to the software requirements analysis of the system,the overall architecture of the software is designed.The design and development of the visual processing module,data communication module and robot arm motion control module are completed by software modular design.Through the establishment of the experimental test system,the visual positioning error,the measurement of the overall accuracy of the system and the verification of the obstacle avoidance function of the mechanical arm are completed.