Research on Picking Robot Vision Localization Based on Semi-physical Simulation

doi:10.16182/j.issn1004731x.joss.201708013

Abstract

Abstract: Aiming at the problems of accuracy and stability of the vision localization based on physical picking robot, which were easy to make mistakes, long cycle, and not easy to be carried out indoors, a picking robot vision localization method based on the semi-physical simulation technology was proposed combining with the robot vision localization mechanism and robot kinematics. This method adopted the virtual picking robot to instead of the physical robot, and studied the vision localization of the fruit target in the virtual simulated environment, which was as the vision localization based on semi-physical simulation. The test results show that: the average absolute error and relative error of the target fruit are only about 2.89 mm and 0.43% in the vision localization simulated environment, which is in line with the accuracy requirements of the actual vision localization, so the effectiveness and feasibility of this simulation method are validated.

Key words: the picking robot, vision localization, robot kinematics, semi-physical simulation

CLC Number:

TP391.9

Chen Keyin, Zou Xiangjun, Peng Hongxing, Liang Haiying, Hu Yuanchuang. Research on Picking Robot Vision Localization Based on Semi-physical Simulation[J]. Journal of System Simulation, 2017, 29(8): 1736-1747.

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