基于雙目視覺的機器人在線檢測技術(shù)的研究.pdf

1、基于雙目視覺的機器人在線檢測技術(shù)的研究學(xué)位論文完成日期：指導(dǎo)教師簽字：答辯委員會成員簽字：途j墊蘭基于雙目視覺的機器人在線檢測技術(shù)的研究RESEARCHONONLINEDETECTIONTECHNOLOGYFORINDUSTRIALROBOTBASEDONBINOCULARVISIONABSTRACTComparedwiththetraditionalmachiningmethodandtheCNCmachiningrobot‘sist

2、edmachininghasgoodflexibilitylargeoperatingspace，highefficiencylowcost，一，ytObeintegratedwithotheradvancedtechnologywhichhasbeenusedforcasting。“；fJ弧lg，deburring，chamfering，rapidprototyping，carving，etcWithadvantagessuch二ts

3、improvingworkefficiencyofrobot，easyforcomplextrajectoryplanning，collision：tndinterferenceinspection，convenienttoshowprogrammingresult，robotoffline玎crgrammingiSwidelyusedintheproductionpracticeHoweverbecauseoftheancertain

4、tyoftheprocessingenvironmentsuchastherobotpositionerrorthefixturepositioningerroruncertaintyofcomponents，theapplicationofrobotofflineprogrammingiSrestrictedUsingmultipleinformationfusionsuchasvisualnformationandforcesens

5、inginformationtoimproverobotperceptionoftheenvironment，thustoprovidereal—timequalitytestingofpartsorprocessingparametershecometheinevitablechoiceInthisPaper，theonlinedetectionsystembasedonbinocularstereovisioniSintroduce

6、d：First，outlinedthestudystatusofrobotbinocularstereovisiontechnologySecond，usingdhmethodtoestablishtheMotomanUP6robotkinematicsmodel，、’oposedasimpleinversesolutionalgorithm，andbasedonthisanoffiine“：’ogrammingsystemaccess

7、machiningpathfromDXFfileiscompleted，whichCanprovidethesourceofmachininginformationAndthenanalyzesmathematicalmodeloftheonlinedetectionsystembasedonbinocularvisionincludingthecamera(magingmodelandtheprincipleofbinocularst

8、ereoimaging，usingBouguet’Sstereocalibrationalgorithmtoobtaintheidealbinocularstereoimagingmodelandrealizes：he3DreconstructionbasedonHarriscomerpointsmatchingandthe3DreconstructionbasedonblockmatchingalgorithmAgain，thispa

9、perputforwardafasthandeyecalibrationalgorithm，whichissimple，fast，andofhighprecisionFinallythispaperimplementsthestereovisionrobotcontrolsystembasedonKalmanfilterwhichCaneffectivelylocatemovingtargetsonline，andcompletemac