This article focuses on the grasping method of stacked parts in industrial production processes. Firstly, a 3D vision grasping system based on the U-Robot is designed. Then, in order to improve the accuracy of robot grasping, a kinematic model of the robot is established, and the robot’s hand eye calibration is completed. After the target is recognized by the 3D vision system, the optimal grasping pose is calculated, and then the optimal grasping pose is used as the target point to plan the optimal path for the robot to grasp, and then guide the robot to complete the grasping. In the simulation stage, this paper takes the outer ring of the bearing on the actual production line as the grasping object, builds an experimental platform, and completes the simulation of recognition and grasping. The experimental results show that the method proposed in this paper improves the recognition accuracy of stacked parts and the planning efficiency of grasping paths.
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