Design of an Automatic Locking Nut Tightening Control System for a Vision Guided Robot

Abstract

A set of automatic locking nut tightening control system for a vision guided robot is designed and implemented. Through hand-eye calibration, the coordinate system is unified. By the designed tool plate and tapered tooling, the calibrated reference location for the tightening tool is realized. According to the position and orientation of the reference screw, the vision system detects the offset of the current screw position, and guides the robot to adjust the pose of the tightening tool. By setting up the network topology of the control system, the data interaction of each subsystem is completed, and the automatic workflow is realized. The application of the system can avoid the relative movement between the tool and screw during the tightening process, and improve the tightening quality.