Development of visual-servo pick-and-place robot technology for manufacturing automation

开发用于制造自动化的视觉伺服拾放机器人技术

• 批准号: 490660-2015
• 负责人: Zhu, ZhengHong
• 金额: $ 1.78万
• 依托单位: York University
• 依托单位国家: 加拿大
• 项目类别: Engage Grants Program
• 财政年份: 2015
• 资助国家: 加拿大
• 起止时间: 2015-01-01 至 2016-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=586566
• 关键词: Development; visual; servo; pick; place

Pick-and-place Robots have been widely used to automate the laborious and repetitive tasks by human operators to ensure consistent quality of products at high speed, increase productivity, lower labour costs and reduce workplace injury claims. However, a specially designed pick-and-place robot can no longer fit the current fast changing manufacturing process, where assembly lines should be flexible to be reconfigured quickly for different customer needs by programmable pick-and-place robots. The objective of the proposed research is to develop and test a visual-servo control algorithm for robots to perform pick-and-place autonomously, which can used to control industrial robots for small and medium sized auto parts manufacturers. The proposed approach will integrate the stereo computer vision and robotic technologies for visual-servo robotic control technology. The computer vision will identify the target in 3D space using imaging processing technology. A path for the end-effector of robot will then be planned subject to the constraint of space and operation requirements. The visual and path information will be feedback into the robot control system to form an outer feedback control loop. The inner control loop will move the end-effector to the target following the planned path in a controlled manner. The outcome of the proposed research provide a cost-effective way to help small and medium sized auto parts suppliers to increase productivity and quality while reduce labor costs by automating assembly lines. It will not only increase jobs to our industrial partner but also the local suppliers. The project will enhance the visual-servo robotic technology to automatically catch non-cooperative targets. In addition to the economic and technical benefits to Canada outlined above, this project will train three HQP in the related field and enhance the industrial partner's market competitiveness.

取放机器人已被广泛应用于自动化的劳动和重复性的任务，由人类 操作员能够确保产品在高速下保持一致的质量，提高生产率，降低劳动力成本， 减少工伤索赔。然而，一个专门设计的拾取和放置机器人不再适合 当前快速变化的制造过程，装配线应灵活重新配置 通过可编程的拾取和放置机器人快速满足不同的客户需求。建议的目标 研究是开发和测试机器人执行拾取和放置的视觉伺服控制算法 可用于控制中小型汽车零部件的工业机器人 厂商所提出的方法将整合立体计算机视觉和机器人技术， 视觉伺服机器人控制技术。计算机视觉将使用成像在3D空间中识别目标 处理技术然后，机器人末端执行器的路径将受到约束， 空间和操作要求。视觉和路径信息将反馈到机器人控制中 系统以形成外部反馈控制回路。内部控制回路将末端执行器移动到目标 以受控的方式遵循规划的路径。拟议研究的结果提供了一个 帮助中小型汽车零部件供应商提高生产力和质量的经济有效的方法 同时通过自动化装配线降低劳动力成本。它不仅会为我们的工业伙伴增加就业机会， 还有当地的供应商。该项目将增强视觉伺服机器人技术， 非合作目标。除了上述对加拿大的经济和技术利益外， 该项目将培养三名相关领域的HQP，提高行业合作伙伴的市场竞争力。