Design And Implementation Of SCARA Robot Target Positioning And Attitude Detection System

As an application product of mechanical automation,industrial robots play a vital role in the production and manufacturing industry.The emergence of machine vision has promoted the development of SCARA robots in a more intelligent direction.However,most SCARA robots still work through manual teaching and programming.This method not only requires time and manpower to train operating technicians,but also And the work efficiency is low.Machine vision can enable SCARA robots to form interconnected communications with cameras,giving the robots the ability to sense information from the outside world.In view of this,this paper designs the SCARA robot target positioning and attitude detection system to realize the positioning and attitude detection of the target object.This paper studies the target detection technology based on template matching and hash similarity,and builds a conveyor belt product transmission and analysis system based on Jinri Chuang's R8T6S-600 A SCARA robot,which is used for SCARA robot target positioning and configuration detection.First,the camera is distorted according to the principle of Zhengyou Zhang's calibration method,and then the camera is used to collect real-time images of the target object on the conveyor belt,and the noise in the image is eliminated by methods such as Gaussian filtering.The ROI area to be detected is selected by image segmentation,and then the contour of the target object is detected by the Canny edge detection algorithm to realize the detection of the target object and the extraction of the contour of the target object.On this basis,template matching and hash similarity algorithms are used to match the detected target objects.Effectively combining the results of the two algorithms can improve the recognition rate of the target objects.Then calculate the center coordinates and rotation angle of the object in the image according to the minimum circumscribed rectangle of the target object,establish the coordinate system conversion relationship between the camera and the SCARA robot arm through nine-point calibration,and obtain the SCARA robot arm according to the pixel coordinates and the rotation angle The corresponding coordinates and posture in the user coordinate system.Finally,the user interface of SCARA robot target detection is designed to realize the function of SCARA robot automatic recognition,positioning and posture detection of target objects,to complete the work content of this research.The research results show that the system designed by this research can accurately and effectively identify the specified object,and obtain the object coordinates,rotation angle and current posture in user coordinates.Provide a reference for the intelligent grasping of SCARA robots.