Workpiece Positioning Method Based on Multi-Point Structured Light Scanning
In the process of grasping workpieces by industrial robots in automatic production lines,the workpiece positioning method directly affects the operation quality,efficiency and system cost.The tradi-tional workpiece positioning method based on line structured light usually has the characteristics of strong specificity and high cost,which is difficult to be popularized and applied in labor-intensive industries.For solving this problem,an industrial robot grasping workpiece positioning method based on multi-point struc-tured light scanning is proposed by using KD-tree ICP algorithm.Firstly,the model point cloud and the multi-point structured light original point cloud are used for rough registration.Secondly,the point cloud feature points of the workpiece to be located are extracted,and the workpiece boundary is fitted.Finally,the model boundary point cloud and the fitted workpiece boundary point cloud are used for fine registration.The experimental results show that the method has high positioning accuracy and recognition efficiency,and meets the requirements of workpiece grasping.
万方数据
维普
