双目双臂协作机器人设计与研发  

作　　者：胡仰 温秀兰[1] 倪浩君 李子康 赵艺兵[1] 

机构地区：[1]南京工程学院自动化学院,江苏南京211167

出　　处：《科学技术创新》2021年第22期182-183,共2页Scientific and Technological Innovation

摘　　要：本文设计一种双目双臂协作机器人,该机器人利用OpenCV视觉库来进行实时图像处理,使用双目摄像头来实现目标工件的识别与定位,采用两对六自由度机械臂对工件进行抓取,实现工件之间的协作组合,并实时监测机器人末端位姿,保证协作抓取过程中的准确与高效。该机器人能够准确识别并定位工件摆放位置,完成工件装配,有助于降低技术工人的工作量,提高生产效率。This paper designs a binocular dual-arm collaborative robot that uses the OpenCV vision library to perform real-time image processing,uses binocular cameras to recognize and locate the target workpiece,and uses two pairs of six-degree-of-freedom mechanical arms to grasp the workpiece To realize the collaborative combination between the workpieces,and to monitor the end pose of the robot in real time to ensure the accuracy and efficiency of the collaborative grasping process.The robot can accurately identify and locate the placement position of the workpiece,and complete the assembly of the workpiece,which helps reduce the workload of technical workers and improve production efficiency.

关 键 词：双目视觉 双臂协作 OPENCV 识别定位 

分 类 号：P204[天文地球—测绘科学与技术] H761[语言文字]