Application research of visionlocation in robotic assembly equipment
ZHANG Jianzhong1,2,HE Yongyi1,LI Jun1
(1.Shanghai Key Laboratory of Mechanical Automation and Robotics,School of Mechatronics Engineering and Automation,Shanghai University,Shanghai 200072,China;
2.Department of Mechanical Engineering,Hefei University,Hefei 230022,China)
Abstract: Aiming at the lack of autocalculation of workpiece’s positions in robotic assembling process,the mobilephone lens（including LENS section and BARREL section）cartesian coordinates robotic assembly equipment based on visionlocation was investigated.After the analysis of the workpiece’s center coordinates with template matching,the assembly relationship between LENS and BARREL was established.A method was presented to acquire the image at every position,and the center coordinates of LENS and BARREL  were calculated, the robot was driven to move to the right place with visionlocation.The position and orientation continuity for robotic assembling were evaluated on the process of guiding robotic assembling,the assembling equipment’s working at the same couple workpiece’s positions were tested.The experimental results show that the analysis lays an important foundation for the further developing work of robotic assembly equipment.
Key words: robot;subpixel;assembling;visionlocation