Fixed Control System of Assembly Robot Based on Vision Control

For exploring the application of assembly robot with vision function in the industrial field, in terms of vision control, a three-stage vision control strategy based on cross ratio invariant and motion displacement is put forward. The target motion is calculated by using cross ratio invariant and the moving route. First of all, the reference image is used for the alignment, and then the target point is calculated by using the cross ratio invariant and moving route. After the image coordinate difference is obtained, the PID control is adopted for adjustment and control approach, and for each image, a new constraint can be re established. In allusion to the target assembly task of vision robot applied in micro parts assembly, a fixed vision control system is designed. And then, from two aspects of hardware and software, the sub millimeter assembly robot prototype system is set up. At last, through the micro parts target guidance experiments and visual control contrast experiments based on the location, the feasibility and accuracy of the system are verified. The experimental results showed that, compared with other systems, especially the monocular vision system, this system has advantages in accuracy. In a word, the fixed control system has high feasibility and accuracy that it can be widely applied.