Research on Monocular Vision Assembly System of Industrial Robot
In order to solve the problem that traditional robots can only perform point-to-point assembly tasks by teaching or off-line programming,the research on vision-guided industrial robot assembly was conducted.Firstly,a mathematical model was es-tablished and calibrated for the visual assembly process of industrial robots,then a method of position and attitude estimation of parts based on machine vision was studied.Further,aiming at the problem of position and attitude estimation of weak texture and corner-free features of flange-type metal parts,a method of position and attitude calculation of monocular vision based on its own characteristics and external marking assistance was proposed.Finally,an experiment platform for monocular visual assembly of in-dustrial robots was built to verify the feasibility of the pose calculation method.The experimental results show that the system can re-alize the positioning and assembly of flange parts,the minimum position error is2.07mm,and the minimum attitude error is0.13°.
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