中文摘要：

为实现工业机器人对目标对象的三维定位，提出了一种线结构光视觉引导的新型工业机器人定位系统。以工业相机、激光器和振镜组成的线结构光自扫描测量装置作为视觉传感器，借助振镜转动实现激光平面对目标对象的扫描，获取目标对象在相机坐标系下的三维位姿。为了将目标对象的三维位姿从相机坐标系转换至机器人工具坐标系，提出了机器人手眼关系与工具坐标系联合标定的方法。最终实现了工业机器人对随机位姿目标对象的三维定位。实验结果表明，系统具有较高的定位精度，其灵活性和稳定性满足工业现场的应用要求。

英文摘要：

In order to realize the three dimensional positioning function of the industrial robot to target objects, a novel structured-light vision guided industrial robot positioning system is proposed. Structured-light auto-scanning measurement module consisting of industrial camera, laser, and galvanometer is used as the vision senor of the positioning system. By scanning target objects with laser plane through the rotation of the galvanometer, the three- dimensional pose of target objects in camera coordinate is obtained. For the conversion of target objects three- dimensional pose from the camera coordinate system to the robot tool coordinate system, a simultaneous calibration scheme of the robot hand-eye relationship and the tool coordinate system is put forward. The three-dimensional positioning function of the industrial robot to target objects with random position and orientation can be implemented. Experimental results show that the proposed system has high positioning accuracy, and its flexibility and accuracy can meet the requirements of industrial applications.