Design and applications of visual-based random poseworkpiece grabbing system

CHEN Mingfang; ZANG Jiaxiu; LI Junnan; WANG Xuejun; GE Tianyou; YAO Guoyi

doi:10.13471/j.cnki.acta.snus.2019.10.28.2019B106

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Design and applications of visual-based random poseworkpiece grabbing system

Research articles | 更新时间：2023-11-01

- Design and applications of visual-based random poseworkpiece grabbing system
- Acta Scientiarum Naturalium Universitatis Sunyatseni Vol. 59, Issue 5, Pages: 78-85(2020)
- 作者机构：
  
  昆明理工大学机电工程学院,云南昆明 650500
- 作者简介：
- 基金信息：
- DOI：10.13471/j.cnki.acta.snus.2019.10.28.2019B106
  CLC： TP271⁺.4
- Published：25 September 2020，
  
  Received：28 October 2019，
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陈明方,臧家秀,李俊男等.基于视觉的随机位姿工件抓取系统的设计与应用[J].中山大学学报(自然科学版),2020,59(05):78-85.

CHEN Mingfang,ZANG Jiaxiu,LI Junnan,et al.Design and applications of visual-based random poseworkpiece grabbing system[J].Acta Scientiarum Naturalium Universitatis Sunyatseni,2020,59(05):78-85.
陈明方,臧家秀,李俊男等.基于视觉的随机位姿工件抓取系统的设计与应用[J].中山大学学报(自然科学版),2020,59(05):78-85. DOI： 10.13471/j.cnki.acta.snus.2019.10.28.2019B106.

CHEN Mingfang,ZANG Jiaxiu,LI Junnan,et al.Design and applications of visual-based random poseworkpiece grabbing system[J].Acta Scientiarum Naturalium Universitatis Sunyatseni,2020,59(05):78-85. DOI： 10.13471/j.cnki.acta.snus.2019.10.28.2019B106.

摘要

针对显示器装配线上显示器的位姿随机性较大、抓取困难的问题，提出了一种基于视觉的随机位姿显示器抓取系统。系统利用Labview的视觉工具包对图像进行采集、处理计算，对不同型号的显示器生成其位姿数据，将该数据送给PLC来控制机器人的抓取动作。并以直角坐标机器人、工业相机和工控机为硬件基础搭建了实验平台，利用Labview软件组建了人机交互界面。实验测试表明，该系统的坐标误差小于0.4 mm，角度最大误差在0.3°内，适用于不同型号显示器，抓取系统的准确性好、可靠性高。

Abstract

Aiming at the problem of large randomness and difficulty in grasping the displays on the display assembly line

a display grabbing system of random pose based on the vision was proposed. The system used the visual toolkit of Labview to collect and calculate the images

and generated the position data of different types of displays

and sended the data to the PLC to control the grasping action of the robot. The experimental platform was built with cartesian robot

industrial camera and industrial computer as the hardware foundation

and the human-computer interaction interface was configured with Labview software. The experimental shows that the coordinate error of the system is less than 0.4 mm

and the maximum angle error is within 0.3°. It is suitable for different types of displays

and the grasping system has good accuracy and high reliability.

关键词

Labview视觉直角坐标机器人图像处理

Keywords

Labviewvisioncartesian robotimage processing

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