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Volume 42 Issue 3
Mar.  2016
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Journal of Beijing University of Aeronautics and Astronautics  > 2016  >  42(3): 562-568.
NI Ziqiang, WANG Tianmiao, LIU Daet al. Vision guide based teaching programming for industrial robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(3): 562-568. doi: 10.13700/j.bh.1001-5965.2015.0218(in Chinese)
Citation: NI Ziqiang, WANG Tianmiao, LIU Daet al. Vision guide based teaching programming for industrial robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(3): 562-568. doi: 10.13700/j.bh.1001-5965.2015.0218(in Chinese)
shu

Vision guide based teaching programming for industrial robot

doi: 10.13700/j.bh.1001-5965.2015.0218

  • School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

Funds:  National High-tech Research and Development Program of China (2013AA041201);National Natural Science Foundation of China (61175104)
  • Received Date: 13 Apr 2015
  • Publish Date: 20 Mar 2016
    Abstract
  • Most industrial robots used in manufacture are based on teaching programming and offline programming. The shortcomings of these two programming methods limit the further application of industrial robots. A vision guide based programming method was introduced to solve the problem. The singular value decomposition (SVD) algorithm was used to calculate the registration matrix between computer vision space and robot space. The positions and orientations of robot's end-actuator were obtained by measuring the teaching tool, which is the key process to realize vision guide programming. Analytical the format of executable file which running on robot controller, and then transform the positions and orientations' data into executable file. An experiment was introduced to verify the feasibility and reliability of the programming method. The results indicate that the maximum error of trajectory tracking is -1.18 mm, and the root mean square error is 0.47 mm.

     

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