基于机器视觉的工业机器人抓取技术的研究-机械工程专业论文.docxVIP

华 华 中 科 技 大 学 硕 士 学 位 论 文 II II Abstract At present, the industrial robots for carrying which are used in production generally utilize teaching or pre-programming mode. Under this ways, operation of initial object pose and terminate pose is limited strictly. Robots can only complete point-to-point movements. So the flexibility of production line is unsatisfactory, can not to meet the flexile production system’s requirements for material conveying system. In this case, it is necessary to introduce visual identification and positioning to ensure the smooth and efficient handing industrial robot task. The production mode of small batch but many varieties is the development trend of future manufacturing, and demonstration and off-line programming will cost a lot of time to prepare for production, the production efficiency problem will be particularly outstanding. The purpose of this study is to design the line of industrial robot control system. By taking computer vision technology into the original hanging industrial robot field, using the machine vision technology acquire the information of workpiece and its surrounding environment, identify the target workpiece to operate and make decision to guide industrial robots to finish the grab and place operation to improve the flexibility and intelligence robots. This paper puts forward a solution to join computer vision in which based on the five axis industrial robot system. The main research work are as follows: putting forward a simple and accurate method to realize the monocular camera calibration ; analysing kinematics of the five axis of robot and realizing the target; throgh the Ethernet to realize the communications between fluctuation place machine;designing the clamping pianning of the paw,aimed at the particular target object that grabbed in the experiment;according to the characteristics of the robot sofeware platform,by using two kinds of schemes to design the control software to realize the visual contral: th