計算機(jī)視覺技術(shù)在工業(yè)機(jī)器人上的應(yīng)用.pdf

1、分類號UDC礦密級：ZZZ687烈5勃母撥夫峰碩士學(xué)位論文計算機(jī)視覺技術(shù)在工業(yè)機(jī)器人上的應(yīng)用ApplicationoftheComputerVisionontheIndustrialRobotSystem復(fù)朝猛指導(dǎo)教師姓名：劉白雁教授武漢科技大學(xué)機(jī)械自動化學(xué)院申請學(xué)位級別論文定稿日期學(xué)位授予單位學(xué)位授予日期錢新恩教授湖北汽車工業(yè)學(xué)院汽車系工學(xué)碩士爭業(yè)名稱：論文答辯日期；武漢科技大學(xué)機(jī)械設(shè)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(xué)碩士學(xué)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