基于视觉引导的ABB机器人定位与抓取  

ABB Robot Positioning and Grabbing Based on Visual Guidance

作　　者：杨旗[1] 陈杰[1] 崔玉博 王家楠 YANG Qi;CHEN Jie;CUI Yu-bo;WANG Jia-nan(School of Mechanical Engineering,Shenyang Ligong University,Shenyang 110159,China)

机构地区：[1]沈阳理工大学机械工程学院

出　　处：《机械工程与自动化》2019年第5期57-59,共3页Mechanical Engineering & Automation

基　　金：辽宁省科技厅基金项目(20170060)

摘　　要：目前工业机器人在上下料时大部分都是采用预先示教或者离线编程的方法,具有很大的局限性。因此,研究了一套基于视觉引导的ABB机器人定位与抓取系统。通过手眼标定得到工件坐标相对于机器人基坐标的坐标变换,通过ABB机器人的PC-Interface模块功能把定位坐标传输至机器人控制器,使机器人运动到相应位置抓取工件。通过多次实验数据分析,定位误差在0.76 mm左右,具有很好的实用性。At present,most industrial robots use pre-teaching or offline programming methods when loading and unloading,which has great limitations.Therefore,a system based on vision guidance for ABB robot positioning and grabbing is studied.The coordinate transformation of the workpiece coordinates with respect to the base coordinates of the robot is obtained by hand-eye calibration.and the positioning coordinates are transmitted to the robot controller through the PC-Interface module function of the ABB robot,so that the robot moves to the corresponding position to grab the workpiece.Through multiple experimental data analysis,the positioning error is about 0.76 mm,which has good practicability.

关 键 词：视觉引导 ABB机器人 手眼标定 抓取 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]