Design and implementation of Visual Epigynous Machine on Robotic Sorting

Abstract Robotic assembly is an important process to replace manual picking in industrial smart manufacturing. One of the steps robotics grasping and sorting workpiece. In this paper, a lightweight visual epigynous system was designed address workpieces with high efficiency, portability, accuracy. The software divided into vision calculation module (VCM), ethernet communication module, control real-time display module. VCM responsible for obtaining information workpieces, which includes segmenting images captured by webcam sequentially recognizing digit, calculating angle algorithms AKAZE feathers matching orientation estimation vector comparison. proposed method performs best estimating workpiece through comparison different template algorithms. field experiments indicated that robot could satisfy requirement sorting. This provides practical robust solution applications.