Application of a robotic system with mobile manipulator and vision positioning

摘要

This paper introduces a robotic system for electric energy meter detection, which is composed of AGV, RGV, 6-DOF manipulator and vision positioning. AGV is used to transport the electric energy meter from warehouse to transfer station for detection and send them back after detection. The manipulator is installed on a RGV and used to pick the electric energy meter to the detection platform with the help of RGV. All electric energy meters are placed back to their original position after detection. The manipulator end-effcector has three parallel pneumatic grippers that can grasp three meters at the same time. A camera and three barcode scanners are employed in the end-effector for positioning and reading barcode respectively. This system has been put into use in factory.