Research and Application of Truss Manipulator Positioning System Based on 3D Vision

In order to solve the problem of labor cost and production efficiency of a production line, a truss manipulator and a 3D camera are used to design a set of friction block workpiece identification, positioning and grabbing system. Use PLC, touch screen and servo system to build a four-axis truss manipulator; collect images through 3D cameras, and use machine vision software in the industrial computer for image preprocessing, template matching and coordinate calculation; industrial computer and PLC use Modbus-TCP communication mode, The robot coordinate signal and the handshake signal are transmitted and interacted, so as to realize the positioning and grasping of the same disordered workpiece. The test results show that the system can accurately locate the workpiece, the positioning accuracy can meet the grasping requirements of the truss manipulator, and the system can meet the actual production needs of the enterprise.