目的 为提高企业工件的码垛效率，降低工人劳动强度，搭建工业机器人视觉码垛实验系统。 方法 在对工业机器人运动学模型分析的基础上，通过相机坐标系和末端坐标系的坐标关系，得到工业机器人末端执行器的位置和姿态信息。结果 提出了基于工件位置坐标的图像剔除算法，实现了多余工件图像的剔除。通过旋转平移矩阵计算待码垛工件的实际位置，并将此位置作为视觉校正后的工业机器人抓取工件位置。结论 实验结果显示改进后系统的重复性定位精度在x, y方向上均有显著提高，验证了工业机器人视觉码垛系统模型的准确性。

In order to improve the palletizing efficiency of enterprise workpieces and reduce the labor intensity of workers, an industrial robot visual palletizing experimental system is built. Based on the analysis of the kinematics model of the industrial robot, the position and posture information of the end effector of the industrial robot is obtained through the coordinate relationship between the camera coordinate system and the end coordinate system. An image removal algorithm based on workpiece position coordinates is proposed to eliminate redundant workpiece images; the actual position of the workpiece to be palletized is calculated by the rotation and translation matrix, and this position is used as the position of the industrial robot to grasp the workpiece after vision correction. The experimental results show that the repeatability positioning accuracy of the improved system is significantly improved in X and Y directions, which verifies the accuracy of the industrial robot visual palletizing system model.