六自由度机械臂智能控制系统设计  

Design of intelligent control system of six degrees of freedom manipulator

作　　者：刘浩 李泽彬 王本有 Liu Hao;Li Zebin;Wang Benyou

出　　处：《电子技术（上海）》2018年第10期70-72,共3页Electronic Technology

基　　金：安徽省质量工程项目(2015zy051;2017kfk080;2016ckjh217);大学生创新创业训练计划项目(201710376027;201710376060;201710376026)

摘　　要：采用STC12C5A60S2单片机和24路伺服舵机控制器,设计了六自由度机械臂智能控制系统。本系统利用TCS3200颜色传感器用来检测有色物体,HC-SR04超声波传感器用来判断物体与机械臂夹收的距离,并通过单片机处理传感器采集的信息后,通过串口通信发送、调用舵机控制器中的动作指令,舵机控制器控制六自由度机械臂完成抓取动作。该设计方案能够对有色物体进行快速、准确的抓取,设计合理,具有较好的实用价值。Using STC12 C5 A60 S2 single chip microcomputer and 24 servo steering machine controller, the intelligent control system of six degrees of freedom robotic arm is designed. The system uses the TCS3200 color sensor to collect colored objects. The HC-SR04 ultrasonic sensor is used to determine the distance between the object and the robotic arm. After processing the information collected by the sensor through a single chip microcomputer, the system sends and calls the action instructions in the rudder controller through serial communication., The steering gear controller controls the six-degree-of-freedom robotic arm to complete the grab action. The designscheme can carry on the fast, accurate gripping to the colored objects, the design is reasonable, has the good practical value

关 键 词：STC12C5A60S2单片机 24路伺服舵机控制器 六自由度机械臂 颜色传感器 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]