三维视觉引导的机器人柔性运动平台研制OA

A 3D vision-guided robot flexible motion platform was constructed,and control software based on the ROS 2 architecture was developed.The basic functions of the platform were tested,achieving robot flexible motion guided by 3D vision.In this platform,3D reconstruction and point cloud registration are realized through the collaboration of a binocular structured light camera and a turntable.Point,line,and surface information of the workpiece is identified using the Random Sample Consensus Algorithm.High-precision motion paths for the robot are planned according to preset tasks,and online motion control is achieved via the TCP/IP protocol.The platform can be used for experimental teaching in mechanical and electrical majors,conducting comprehensive experiments on robot 3D vision coordinate system calibration.It also serves as a research and development platform for 3D vision algorithms and robot path planning algorithms.