Research and application of vision intelligent assembly robot based on HALCON software

This paper researches the intelligent assembly technology of robot, and introduces an intelligent assembly method of robot. Using hand-eye calibration method of the monocular vision Eye-in-Hand system in the image processing software HALCON, it not only calibrates the camera's internal and external parameters, but also gets the relationship between the camera's image coordinate system and the robot's base coordinate. The image processing software is developed by calling the HALCON function library on the VS2010 platform, and the position of the workpiece is sent to the robot system based on TCP/IP communication protocol, which realizes the intelligent assembly of the workpiece. The experiment result shows that the method is accurate and feasible, and meets the requirement of industrial production.