New York University Tandon School of Engineering, New York University, Brooklyn, New York, NY 11201, USA.
Comput Intell Neurosci. 2022 May 25;2022:4443100. doi: 10.1155/2022/4443100. eCollection 2022.
At present, most of the handling industrial robots working on the production line are operated by teaching or preprogramming, which makes the flexibility of the production line poor and does not meet the flexible production requirements of the material handling system. This study proposes a solution based on adding computer binocular vision to a five-axis industrial robot system. A simple and high-precision binocular camera calibration method is proposed, the kinematics of the five-axis robot is analyzed, and the target positioning is realized; the communication between the upper and lower robots is realized through Ethernet. According to the specific target, the grasping scheme of the gripper was designed; the control software was developed using two schemes. Visual control is carried out by operating specific buttons on the control panel, and visual control is carried out by executing the macrovariable program, finally realizing the joint fusion of multisensor data and binocular vision.
目前，大多数在生产线上工作的处理工业机器人都是通过示教或预编程来操作的，这使得生产线的灵活性较差，无法满足物料搬运系统的灵活生产要求。本研究提出了一种基于在五轴工业机器人系统中添加计算机双目视觉的解决方案。提出了一种简单、高精度的双目相机标定方法，分析了五轴机器人的运动学，实现了目标定位；通过以太网实现了上下机器人之间的通信。根据具体目标，设计了夹持器的抓取方案；使用两种方案开发了控制软件。通过操作控制面板上的特定按钮进行视觉控制，并通过执行宏变量程序进行视觉控制，最终实现多传感器数据和双目视觉的联合融合。
