Design of YUMI Collaborative Robot Sorting System Based on Machine Vision

作者：Zhimin Mei, Dong Li, Ting‐Yu Chen · 发表于：2021 International Conference on Intelligent Computing, Automation and Systems (ICICAS) · 年份：2021 · DOI：10.1109/icicas53977.2021.00066 · 被引用次数：3 · 研究领域：Industrial Vision Systems and Defect Detection、Robot Manipulation and Learning、Digital Transformation in Industry

With the wide application of artificial intelligence, automation and intelligence provide strong technical support for industrialization and informanization for automatic production line. Traditionally, electrical control or sensor fusion technology are used for automatic sorting production line, which has the disadvantages such as complicated technical route and difficult maintenance. This study uses flexible ABB YUMI cooperative robot as the carrier, based on the Halcon machine vision recognition algorithm platform. Our study mainly focuses on real-time collection of workpieces, digital image processing, result output, and communication with the robot to achieve workpiece sorting. The system model created and its kinematic parameters defined in Matlab simulation platform, we confirmed the feasibility of mechanical system, visual system, and robot control system design, and verified sorting effect of the workpiece in different colors and shapes. Our study provides important support for the design of multi-DOF robot machine vision sorting system.