A visual alignment method under the multi-station operation of an industrial manipulator
A technology of industrial machinery and visual alignment, applied in the directions of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of difficult stereo matching of images, poor environmental perception, low positioning accuracy, etc., and achieves simple hardware system structure and low cost. , the effect of high precision measurement results
Active Publication Date: 2022-07-12
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] The present invention will be further illustrated below in conjunction with specific examples, which are implemented on 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 not to limit the scope of the present invention.
[0030] The visual alignment method for the multi-station operation of the industrial manipulator of the present application firstly uses system calibration to establish the positional relationship between the coordinate systems. Secondly, a set of cooperative targets is designed, which is arranged near the aiming target, and the algorithm for solving the target's pose is given, through which the desired pose of the target can be obtained. Then create an alignment task table for the target. In the alignment link, the system performs the alignment operation based on the task table, calculates the deviation between the actual pose and the desire...
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The invention discloses a visual alignment method under the multi-station operation of an industrial manipulator. First, the system calibration is used to establish the positional relationship between the coordinate systems; secondly, a set of cooperative targets is designed and arranged in the alignment tool. obtain the desired pose of the target, and then establish an alignment task table for multiple stations; perform the alignment operation based on the task table, and calculate the deviation between the actual pose and the desired pose of the target , the deviation is calculated as the motion data of the manipulator, and the end is driven to adjust the pose, and finally the precise alignment of the end tool and the station is realized. The alignment method of the present invention has good robustness, robustness and reliability, and high measurement result accuracy; the hardware system is simple in structure, low in cost, and strong in flexibility; in the alignment process, no visual occlusion is generated due to the alignment tool and the target, and the requirements are met. Real-time requirements, it has advantages for solving close-range alignment problems, and is suitable for industrial field applications.
Description
technical field [0001] The invention belongs to the technical field of intelligent manufacturing, and in particular relates to a visual alignment method under the multi-station operation of an industrial manipulator. Background technique [0002] With the continuous development of intelligent manufacturing in the aerospace field, industrial robotic arms are widely used in assembly work such as alignment, screwing, and grabbing of aircraft parts. The traditional robotic arm assembly work relies on teaching reproduction or fixed programming to achieve basic motion operations, with low absolute positioning accuracy and poor ability to perceive the environment, which cannot meet the requirements of intelligent assembly. In order to improve the flexibility and flexibility of robotic arm assembly, vision sensors and industrial robotic arms are gradually integrated. Building a suitable robotic arm vision system is an important prerequisite for completing assembly operations. [00...
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IPC IPC(8): G06T7/73B25J9/16B25J19/00
CPCB25J9/1692B25J19/0095
Inventor 叶南石世锋祝鸿宇张丽艳
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS