Research On Space Guidance And Visual Location Of Industrial Robots

At present,the development cycle of new industrial products is getting shorter,which makes the working conditions of industrial production lines change increasingly frequent.Therefore,the requirement of flexible adaptability of industrial robots is becoming higher and higher.How to make the robot teaching efficient and accurate,at the same time,improve the autonomous learning and imitation ability of the robot,is one of the research hotspots to improve the intelligent degree of the robot.Because machine vision has the advantages of rich information,flexible installation and non-contact detection,it can make up for the shortcomings of the existing teaching methods of industrial robots.Based on this,it is proposed to introduce visual technology into robot teaching.Firstly,the binocular stereo vision system composed of two industrial cameras is used to collect image data when the target is grasped and placed by hand,identify the target information,and locate the coordinates of the beginning and end of the target.Kinect V2 sensor is used to acquire the motion information and trajectory of human hand.Based on these information,gesture instructions for collecting instructional information and tracks of hand motion can be designed and calculated.Integrating the coordinates of the beginning and the end of the target with the information of the moving path,and all joint angles of Movemaster EX RV-M1 robot are obtained by analyzing the forward and reverse kinematics of the robot.Finally,through the command from upper subsystem,the robot is directed to find the target and carry out the action of locating,grasping and carrying,so as to realize the visual aided robot teaching.The final experimental verification of the robot using the visual teaching system,can accurately locate the target position,and can successfully control industrial robots to achieve target positioning,grasping and placing,according to the action guidance of the human hand.It provides a new idea for the teaching method of robots.