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Alternative TitleDesign and Research on Vision Positioning Method of Robot Demould
郑帅超; 徐志刚; 侯雯中; 王亚军
Source Publication机械设计与制造
Issue5Pages:44-47, 51
Contribution Rank1
Funding Organization国家863计划资助项目(2014AA041603) ; 西安航天化学动力厂资助项目(Y2V6210601)
Keyword机器人脱模 视觉定位 最小二乘法 误差修正
Other AbstractAccording to the requirement of accurate positioning in the process of robot disassembling the injection valve- modules of missile engine, a programme is designed based on vision to identify and locate valve-module bolts. Experiments are carried out on the basis of this programme, and tests show that all valve-module bolts can be accurately recognized by applying this programme, with the location range error of within 1mm, and the maximum error of 0.750mm, which meets the requirment of robot demould device positioning. In order to ensure no device interference in the process of disassembling the valve-modules, experimental datas are simulated to get working angleby utilizing least-squares method and Matlab. Besides, for the sake of testing the reliability of visual location and data processing, experimental datas and the result of data processing are exploited to control the robot to disassemble the valve-modules. Error correction methods that are appropriate for engineering application have been proposed after analyzing the main sources of vision positioning error, which is conducive to improve the reliability of robot demould.
Document Type期刊论文
Corresponding Author郑帅超
Recommended Citation
GB/T 7714
郑帅超,徐志刚,侯雯中,等. 机器人脱模视觉定位方法的设计与研究[J]. 机械设计与制造,2017(5):44-47, 51.
APA 郑帅超,徐志刚,侯雯中,&王亚军.(2017).机器人脱模视觉定位方法的设计与研究.机械设计与制造(5),44-47, 51.
MLA 郑帅超,et al."机器人脱模视觉定位方法的设计与研究".机械设计与制造 .5(2017):44-47, 51.
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