Industrial mechanical arm vision alignment method under multistation operation
A technology for industrial machinery and visual alignment, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of difficult image stereo matching, poor environmental perception, low positioning accuracy, etc., to achieve strong flexibility, low cost, high precision effect
Active Publication Date: 2020-10-16
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology
[0005] The technical problems solved by the invention: the existing positioning accuracy is low, and the ability to perceive the environment is poor; the structure is complex, the robustness is poor, and the stereo matching between images is difficult
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[0029] Below in conjunction with specific examples, further illustrate the present invention, the examples are implemented under the premise of the technical solutions of the present invention, it should be understood that these examples are only used to illustrate the present invention and are not intended to limit the scope of the present invention.
[0030] In the vision alignment method for the multi-station operation of the industrial manipulator of the present application, the positional relationship between the coordinate systems is firstly established by system calibration. Secondly, a set of cooperative targets is designed, which are arranged near the alignment target, and the pose calculation algorithm of the target is given, and the expected pose of the target can be obtained through this algorithm. Then create an alignment task table for the target. In the alignment process, the system performs the alignment operation based on the task list, calculates the deviatio...
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The invention discloses an industrial mechanical arm vision alignment method under multistation operation. The industrial mechanical arm vision alignment method comprises the following steps: at first, utilizing system calibration to establish the positional relationship among all coordinate systems; then, designing a set of cooperative targets, arranging the cooperative targets near an alignmentstation, and solving the poses of the targets; obtaining expected target poses, and then establishing an alignment task table for multiple stations; and carrying out alignment operation based on the task table, calculating the deviation between the actual poses and the expected poses of the targets, resolving the deviation value into motion data of the mechanical arm, driving a tail end to carry out pose adjustment, and finally realizing precise alignment of a tail end tool and a station. The industrial mechanical arm vision alignment method is excellent in robustness, steady and reliable, andhigh in measuring result precision; a hardware system is simple in composition, low in cost and high in flexibility; and during the alignment process, vision shielding is avoided due to alignment toa tool and a target, the real-time demand is met, and the industrial mechanical arm vision alignment method has advantages for solving the close-range alignment problem and is suitable for applicationat an industrial site.
Description
technical field [0001] The invention belongs to the technical field of intelligent manufacturing, and in particular relates to a vision alignment method under multi-station operation of an industrial mechanical arm. Background technique [0002] With the continuous development of the aerospace field in the direction of intelligent manufacturing, industrial robotic arms are widely used in assembly tasks such as alignment, screwing, and grasping of aircraft parts. The traditional robotic arm assembly work relies on teaching and reproduction or fixed programming to achieve basic motion operations. The absolute positioning accuracy is low, and the ability to perceive the environment is poor, which cannot meet the requirements of intelligent assembly. In order to improve the flexibility and flexibility of robotic arm assembly, vision sensors are gradually integrated with industrial robotic arms. Building a suitable robotic arm vision system is an important prerequisite for comple...
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Login to View More IPC IPC(8): B25J9/16B25J19/00
CPCB25J9/1692B25J19/0095
Inventor 叶南石世锋祝鸿宇张丽艳
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS