Visual Positioning and Grasping Application of Industrial Robot for Casting Parts

摘要

In order to guide an industrial robot to pick a rough casting object, a visual servoing system have been designed to perform the task. This solution present an efficient method to perform robot and vision system’s hand eye calibration. Shape matching method is used to find a rough casting object, by combining Line2d algorithm and ROI selection. This vision system can find rough objects with high computational speed and it is robust to environmental noise. The experiment shows that the system repeatability is within 2mm and verify the feasibility of the method and robustness of the algorithm.