关键词: 工业机器人, 深度图像, 无标定视觉定位, 柔性生产, 装配

Abstract: In view of industrial robots recognition and positioning for peg-in-hole assembly in flexible production unit,an uncalibrated visual positioning method which could adapt to the changeable product specification working conditions was proposed.It reduced the time consumption of complex calibration process and machine halt due to working condition change.To complete the extraction of target workpiece's minimum circumscribed rectangle angular point coordinates,image processing and character recognition algorithm based on depth image was designed.Through coordinate transformation between depth image and robot,the control parameter drive the robot was generated to complete coarse positioning.The target hole geometry parameters was extracted from the color image with Hough circles detection algorithm,and then the robot was driven to complete secondary positioning task through color image.The experimental result showed that the positioning accuracy of the proposed method was between 0.6～1.2mm,approximately met the requirements of subsequent assembly process,which was suitable for recognition and positioning of multi-specification and small batch peg-in-hole assembly process.

Key words: industrial robot, depth image, uncalibrated visual positioning, flexible production, assembly