小型智能涂胶机器人建模与控制系统设计  

Modeling and Control System Design for Small Intelligent Glue-robot

作　　者：金英连[1] 徐崟[1] 郭振武[1] 王斌锐[1,2] 

机构地区：[1]中国计量学院机电工程学院,杭州310018 [2]机器人学国家重点实验室,沈阳110016

出　　处：《计算机工程》2011年第10期173-175,共3页Computer Engineering

基　　金：浙江省自然科学基金资助项目(Y1090042);机器人学国家重点实验室开放基金资助项目(RL0200918)

摘　　要：为使涂胶机器人可涂任意鞋底轨迹,提出带摄像头的智能涂胶机器人。设计机构模型,利用齐次变换矩阵建立运动学模型,并进行Simulink运动仿真。控制器采用2层递阶的DSP加PC机结构,USB摄像头捕获鞋底图像,VC++实现边缘提取,并通过坐标变换得到机器人关节轨迹。DSP直流无刷电机控制器采用增量PID闭环控制算法。在自主开发的样机上开展实验研究,结果表明该小型智能涂胶机器人可完成任意鞋底的涂胶任务,系统易于实现。In order to make glue-robot fit for variable shoe sole,a small robot with camera is proposed in this paper.Mechanism is designed and kinematics model is derived.Then based on Matlab/Simulink,simulation platform is established and motion is simulated.Two-layer hierarchical control system is designed.USB camera is used to capture sole image and edge is detected using VC＋＋ procedure.Edge track is translated to joint angle curve through kinematics model.Brushless DC motor is adopted to driven joint and controlled by DSP using incremental PID control algorithm.Tests are done on the self-develop robot prototype.Results show that intelligent glue-robot proposed can work for various sole and system is applied.

关 键 词：智能机器人 建模 SIMULINK仿真 边缘检测 控制系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]