CAJ | 학술논문

为了实现机器人生产线上零部件的自动化装配，对机器视觉在工业机器人底座与一轴减速器装配中的应用进行了研究。针对底座位姿识别，提出了基于Hough变换的底座表面圆形特征识别算法。针对减速器在相机视场中因为镜头曲率原因无法通过圆识别检测其外侧安装孔的问题，提出了基于链码的姿态识别算法。分析了视觉算法库Open CV中的摄像机模型。最后通过实验对视觉算法进行了验证，实验结果表明视觉算法稳定、可靠，配合高精度大负载工业机器人的应用，实现了底座与减速器的智能装配。
위료실현궤기인생산선상령부건적자동화장배，대궤기시각재공업궤기인저좌여일축감속기장배중적응용진행료연구。침대저좌위자식별，제출료기우Hough변환적저좌표면원형특정식별산법。침대감속기재상궤시장중인위경두곡솔원인무법통과원식별검측기외측안장공적문제，제출료기우련마적자태식별산법。분석료시각산법고Open CV중적섭상궤모형。최후통과실험대시각산법진행료험증，실험결과표명시각산법은정、가고，배합고정도대부재공업궤기인적응용，실현료저좌여감속기적지능장배。
Aiming at the application of automatic assembly of robot components in robot production line, this paper applied machine vision technology to accomplish the intelligent assembly of the robot base and first axis reducer. In order to get base is pose, a circular feature recognition algorithm based on Hough transform is studied. For the reducer, as camera has certain curvature under the large field of view, a pose recognition algorithm based on chain code is proposed. Analyze the camera model in Open CV library. The experimen-tal result shows that the vision algorithm has the characteristic of reliability and feasibility. Combined with the application of heavy-load industrial robot, the whole vision system realizes the intelligent assembly of ro-bot base and first axis gear reducer, which is “manufacturing robot with robot”.