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| 基于单目视觉的工业机器人抓取系统设计 |
| Design of Industrial Robot Grasping System Based on Monocular Vision |
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| DOI：10.16018/j.cnki.cn32-1650/n.202301006 |
| 中文关键词: 单目视觉 工业机器人 抓取系统 九点标定 |
| 英文关键词: monocular vision industrial robot grasping system nine-point calibration |
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| 中文摘要: |
| 针对工业机器人在示教模式下上料无法对位姿出现偏差的工件完成抓取的问题，设计了一种基于单目视觉的工业机器人抓取系统。系统使用单目视觉采集工件图像，利用九点标定法将图像中的工件形心坐标转换为机器人坐标系下的坐标；通过图像处理算出工件的旋转角度，引导机器人运动至目标位置并配合抓手完成对工件的抓取。最后以PCB为对象搭建了抓取系统，经过多次抓取实验，发现该抓取系统位置误差在2 mm以内、姿态误差在1. 5°以内，能够满足自适应抓取工件的定位要求。 |
| 英文摘要: |
| A monocular vision-based industrial robot grasping system is designed to address the problem that the industrial robot cannot grasp workpieces with deviations in position when loading in the teaching mode. The system uses monocular vision to collect the workpiece image, and uses nine-point calibration method to convert the centroid coordinates of the workpiece in the image into the coordinates in the robot coordinate system. The rotation angle of the workpiece is calculated by image processing, which guides the robot to move to the target position and cooperates with the gripper to grasp the workpiece. Finally, the grasping system is built with PCB as the object. After several grasping experiments, it is found that the grasping system can meet the requirements of adaptive grasping workpiece positioning with the position error within 2 mm and attitude error within 1. 5°. |
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