KUKA KR6 R900六自由度机械臂的定位与视觉控制

020 1st International Conference on Communications, Control Systems and Signal Processing (CCSSP) Pub Date : 2020-05-01 DOI:10.1109/CCSSP49278.2020.9151573

Ramzi Mehrez, Eya Affes, Ibrahim Kadri, Y. Bouslimani, M. Ghribi, A. Kaddouri

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引用次数: 1

摘要

本文结合多种视觉技术对库卡KR6 R900六自由度机械臂进行控制。本工作的目的是设计一个对不同尺寸和特征的零件进行多目标分类的应用程序。VisionTech是KUKA的软件包，安装在紧凑型KRC4控制器中，用作2D定位工具。采用离线编程的方法集成了基于激光雷达的定位系统。外部编程环境由KUKA KLI接口提供。视觉系统与激光雷达检测相结合，提供了一种有效的定位工具。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Location and Vision Techniques to Control a KUKA KR6 R900 Sixx Robot Arm

This paper presents a combination of several vision techniques to control a KUKA KR6 R900 sixx robot arm. This work aims to design a multi-object sorting application of parts with different dimensions and characteristics. VisionTech, a KUKA Software package, was installed into the compact KRC4 controller and applied as a 2D location tool. Off-line programming was used to integrate a LIDAR based localization system. The external programming environment is provided by the KUKA KLI interface. The vision system combined to the LIDAR detection provided an efficient location tool.

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020 1st International Conference on Communications, Control Systems and Signal Processing (CCSSP)

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