計算機視覺技術在工業(yè)機器人上的應用.pdf

1、分類號UDC礦密級：ZZZ687烈5勃母撥夫峰碩士學位論文計算機視覺技術在工業(yè)機器人上的應用ApplicationoftheComputerVisionontheIndustrialRobotSystem復朝猛指導教師姓名：劉白雁教授武漢科技大學機械自動化學院申請學位級別論文定稿日期學位授予單位學位授予日期錢新恩教授湖北汽車工業(yè)學院汽車系工學碩士爭業(yè)名稱：論文答辯日期；武漢科技大學機械設計及理論答辯委員會主席：羅會信教授評閱人金曉宏張衛(wèi)

2、國副教授高一r第】I頁武漢科技大學碩士學位論文APPLICATIONoFTHECoMPUTERVISl0N0NINDUSTRIALRoBoTSYSTEMABSTRACTAftermorethan40yearsofdevelopment，sinceitsfirstappearancetillnOWtherobothasalreadybeenwidelyappliedineveryindustrialfields，andithasbecom

3、etheimportantstandardofindustrymodernizationHowevermostindustrialrobotsthatactuallyappliedinfactoriesworkintheteaching—recurrencemodeatpresentBecausetheworkingmodeisopencircuit，inwhichtherobotknownothingabouttheambience，

4、suchastheworkpieces’displacementcausedbytheworkpieces’deflectionanddistortion，orthebarriersappearingintherobot‘SlocusSOwhenworkinginthismode，theindustrialrobotCannotaajUStitsmovinglocus，andlacksflexibilityandadaptability

5、Soweintroducethecomputervisionsystemintotheindustrialrobotsystem，onbasisoftheprimaryMotomanUP6industrialrobotsystem，weexploitasetofcomputervisionsystemforitThecomputervisionsystemiscomposedofacameraanimage—samplingcard，a

6、nindustrycomputerandtheprimaryMotomanUP6industrialrobotsystemandrelevantsoftwareBythissetofcomputervisionsystemwetakeimagesinformationoftheworkpiecesandtheambienceinthecameravisualfield，analyzetheseimagesandcarrvonaseque

7、nceofimagespressing，achievethree—dimensionalcoordinatesofthespatialpointsbvusingtheremotecontrollingsoftwareMotocom32，wecarlgetthecontrolovertherobotthroughtheindustrialcomputerandrealizeautomaticpositioningandtrackingat

8、lastInthisdissertationweexplainrelevantknowledgeofindustrialrobotatfirst，includingMotomanUP6industrialrobotrelevantknowledge，thepositiveandreverseproblemaboutindustrialrobotkinematics，andbyusingthekinematicstheoryofthein

9、dustrialrobot，wegetcommunicationwiththerobot’ScontrollingboxthroughMotocom32software，anduploadthisrobotprogram，analyzetheprogram，doplanningandrecombinationtotherobotprogramanddownloadittOtherobot’Scontrollingbox，realizer

10、ealizedreal—timeplanningoftherobot’SlocusAfterwardsweexpoundthewholeindustrialrobotsoftwareandhardwareandtlleproblemaboutthecameracalibrationOnbasisofsummarizingtraditionalmethodsofcameracalibrationcombinedwiththeactualc

11、onditions，weputforward“aquickandaugmentedmethodofthecameracalibration”Inthismethodweconsideratelyconsiderthenon1ineardistortionofthesceneandsystemerrorinthecameramodelandintroducethenon—lineardistortionofthelensandsystem

12、errorintothedirectlinearcalibrationalgorithm，andquicklyrealizethecameracalibrationthroughasimplelineariterativemethodAndthenweexplainindetailthepresentripeimageprocessingalgorithm，onthisbasis，combinedwiththebackgroundoft