CAJ | 학술논문

针对传统锻压生产线机器人与工件标定方法耗时长、精度低等问题，提出一种视觉标定的方法，确定机器人与工件的位置关系.利用摄像机参数标定工具箱实现对平面标定模板的角点提取和校正，得到摄像机的内外参数.通过示教工件坐标的试验，验证了该标定方法的可行性.结果表明：该方法可以保证机器人对工件快速准确的抓取，得到工件坐标的平均误差在0.3%以内，标定精度达到生产线的实际要求.
침대전통단압생산선궤기인여공건표정방법모시장、정도저등문제，제출일충시각표정적방법，학정궤기인여공건적위치관계.이용섭상궤삼수표정공구상실현대평면표정모판적각점제취화교정，득도섭상궤적내외삼수.통과시교공건좌표적시험，험증료해표정방법적가행성.결과표명：해방법가이보증궤기인대공건쾌속준학적조취，득도공건좌표적평균오차재0.3%이내，표정정도체도생산선적실제요구.
In forging production line, solving the problem of workpiece calibration by the traditional method is low efficiency and poor accuracy, so a visual calibration method is proposed to get the posture relationship between robot and workpiece. To obtain the intrinsic and extrinsic parameters of camera, a calibration toolbox is used to extract grid corners and calibrate the plane calibration template. A teaching workpiece′s coordinates experiment is used to test the validity of the method above. The experimental result shows that the robot could finish the workpiece grasping job quickly and accurately, the average error of workpiece coordinate is within 0.3% and the accuracy of the calibration can meet the requirements of the actual production line.