Development of a 3D visual guided robot flexible motion platform

A 3D vision guided robot flexible motion platform is built, the platform control software based on ROS 2 is developed, the basic functions of the platform is tested, and robot flexible motion guided by 3D vision is achieved. In the experimental platform, 3D reconstruction and point cloud registration are achieved through collaborative work of binocular structured light camera and turntable; the point, line, and surface information of workpiece is identified through RANSAC (Random Sample Consensus) algorithm; the high-precision motion path of robot is planned according to a set task; online motion of the robot is achieved through TCP/IP protocol. The platform can be used for experimental teaching in mechanical and electrical majors, conducting comprehensive experiments on robot 3D vision coordinate system calibration, and can also serve as a research and development platform for the development of 3D vision algorithms and robot path planning algorithms.