Research On Robotic Material Warehouse Grasping System Based On Visual Servo

In industrial robot manufacturing system,in order to locate and arrange the workpiece neatly,each workpiece needs to prepare expensive positioning fixture and peripheral equipment.The design,manufacture,debugging and preservation of these peripherals are often the important reasons for the high cost of imported robot system.A material warehouse grasping system based on visual servo is designed,which enables the robot to grasp the workpiece directly from the cluttered storehouse,which can greatly simplify the peripheral equipment of the robot manufacturing system,help to improve the flexibility of the robot manufacturing system and reduce the total cost of the robot manufacturing system.In this paper,taking RV-4FL-D Mitsubishi robot as the main body,an experimental platform for robot material library selection based on visual servo is constructed.The platform is composed of the traditional robot system with high reliability,the visual sensing system for detecting the stereoscopic position and pose of the workpiece with high precision,and the software for realizing the selection of the material base by the two systems.The main contents of this paper are as follows:First of all,after analyzing the experimental objectives,the scheme design of the material warehouse grasping system is carried out.The components of vision system,robot system and control system,as well as the connection mode between each system,are introduced in detail,and the concrete steps of building the experimental platform are given.Secondly,the watershed segmentation algorithm is used to segment each workpiece,and the image distance feature is used as the position information of the workpiece.The template matching algorithm is used to compare the workpiece image with the current workpiece image,and the rotation angle information of the workpiece is obtained.The effectiveness of the design is verified by experiments.Finally,aiming at some disadvantages of position-based visual servo,an image-based visual servo scheme is proposed,which can reduce the time of image processing and ensure the real-time performance of the system.The effectiveness of the proposed scheme is verified by simulation.