基于双目视觉的机器人快速示教系统  

A Robot Rapid Teaching System Based on Binocular Vision

作　　者：潘海鸿[1] 杨竑宇 田硕 梁旭斌[1] 陈琳[1] PAN Hai-hong;YANG Hong-yu;TIAN Shuo;LIANG Xu-bin;CHEN Lin(College of Mechanical Engineering,Guangxi University,Nanning 530004,China)

机构地区：[1]广西大学机械工程学院,南宁530004

出　　处：《组合机床与自动化加工技术》2021年第10期120-123,128,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：广西创新驱动发展专项(桂科AA18118002);南宁市高层次创业创新人才资助项目。

摘　　要：针对工业机器人传统示教方式存在示教难、示教慢的问题,基于双目视觉提出构建机器人快速示教系统。该系统将双目视觉模块固接在机器人末端工具上,减小示教范围限制;设计出一种带有特征板和位姿测量杆件的手持示教装置,用于对设定点进行快速位姿示教;采用最小二乘法实现特征板到位姿测量杆件末端的平移参数标定。该系统通过双目视觉模块采集手持示教装置特征板图像,并进行图像处理获得末端点的位姿信息;将该位姿信息转换到机器人基坐标系下,实现机器人示教再现。搭建川崎RS010NA六自由度工业机器人的双目视觉快速示教系统,进行空间25点的示教复现测试,机器人示教复现位置平均误差为2.427 mm;采用移动示教后,平均位置误差下降25.3%;测试结果表明该系统具备可行性,且移动示教可以提高示教复现精度。Aiming at the problems that industrial robots are difficult and slow to teach in traditional teaching methods,a robot rapid teaching system based on binocular vision was proposed.The system attached the binocular vision module to the end tool of the robot to reduce the limit of teaching scope.A handheld teaching device with a feature board and a pose measuring rod was designed to teach the set points quickly.The least square method was used to calibrate the translational parameters at the end of the bar.The system used binocular vision module to collect the feature board image of the handheld teaching device,and then carried out image processing to obtain the position and pose information of the end points.The position and pose information was converted to the basic coordinate system of the robot to realize the robot teaching reproduction.The binocular vision rapid teaching system of Kawasaki RS010NA 6-DOF industrial robot was built to perform the teaching repetition test at 25 points in space,the average error of the robot's reproducing position was 2.427 mm.Adopting the moving teaching,the average position error decreased by 25.3%.The test results verify that the system is feasible and the moving teaching has certain optimization effect on the system accuracy.

关 键 词：快速示教 双目视觉 手持示教装置 工业机器人 特征识别 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]