Research On Grasping And Edge Milling Operation Of Industrial Robot Based On Vision Programming

The integrated application of industrial robots and vision technology has become an important means to improve the intelligent level of assembly line production operations.Aiming at the problem of low efficiency and low level of intelligence in the production line of melamine dinner plate,this paper studies the operation of visionbased industrial robot positioning and grasping and edge contour milling.The specific work mainly includes the following aspects:Firstly,the Eye-in-Hand and Eye-to-Hand hand-eye calibration systems were constructed.Established the relationship between the target object point from the twodimensional pixel coordinate system to the three-dimensional space coordinate system,analyzed the dual-objective theory,deduced two equations to be solved for hand-eye calibration,and solved them using the Navy method.At the same time,the corresponding camera was developed.Calibration experiment.Secondly,a vision-based robot operating environment workstation was established,and a device layout correction scheme was proposed.The overall layout of the operating environment workstation was planned,and the model parameters of the equipment in the robot operating environment were determined.A vision-based operating environment simulation workstation was established,and the calibration steps of the main equipment layout positions were explained in detail.Furthermore,the robot blanking trajectory and milling trajectory are planned.The three-dimensional coordinate calculation formula of the target workpiece in the robot base coordinate system is deduced,and the blanking trajectory planning problem to be solved is proposed,and the MATLAB toolbox based on the quintic B-spline interpolation method is used to optimize the blanking motion trajectory of the industrial robot.At the same time,the problem to be solved in milling trajectory planning is proposed.Plane fitting and curve fitting are performed on the obtained workpiece edge contour point set,and the conversion relationship between the workpiece edge contour fitting curve and the robot end hand center is established at the same time.The mapping relationship between the fitting curve of the workpiece edge contour and the virtual trajectory is discussed,and the calculation formula of the robot milling trajectory is deduced.Finally,a vision-based industrial robot grasping and milling operation software system was constructed.The overall software system program design process is planned,and the function design is carried out according to two parts,a total of five modules.The program design process is planned for the main modules,and the method of writing robot operation files is introduced and software testing is carried out.The research results show that the use of vision technology to effectively combine the grasping and milling operations is beneficial to improve the intelligent level of the production line and has practical application value.