基于单目视觉的机械臂目标定位系统设计

In the industrial production of cheese dyeing, obtaining the relative positions of the manipulator and the rod/lock-catch to achieve the precise manipulator positioning and grasping is the key technique. A monocular vision based manipulator target positioning and optical measurement system is designed, which can acquire the image of the lock-catch target through optical imaging and obtain the relative position between the target and the manipulator through the image analysis. Using OPC communication technology, the target's spatial position information is transmitted to the manipulator control module. Then it controls the movement of the manipulator and achieve the target grasping. Experimental result show that the error of the manipulator positioning system is within 2mm.