关键词: 工业机器人, 模板匹配, 轨迹规划, 机器视觉

Abstract: Targeting the difficulty of positioning the rough workpiece in the process of casting grinding and the problem of cumbersome work during the grinding track teaching,a robot grinding system which included the whole process from loading part to grinding part with the combination of industrial robots and machine vision technology was designed and realized.The method of template matching was applied to achieve the robotic positioning and grabbing guidance of the rough workpiece under the disturbance of ambient light.Subsequently,edge extraction and contour fitting technology were used to measure the position of the contour of workpiece and to estimate the main burr on the surface after eliminating the influence of burr.On this basis,the grid method was put forward to detecting the main burrs on the surface of the workpiece.Moreover,the offline grinding trajectory of the robot was planned with the guidance of the coordinate transformation method.The system greatly improved the automaticity throughout the entire process of loading,grinding and unloading.As measured,the proposed system could work stably and efficiently.

Key words: industrial robot, template matching, trajectory planning, machine vision