基于机器视觉与单片机结合的机械臂抓取系统  

Mechanical Arm Grabbing System Based on Combination of Machine Vision and Microcontroller

作　　者：王勇[1] 陈荟西 WANG Yong;CHEN Hui-xi(Chongqing University of Technology,Chongqing 400054 China)

机构地区：[1]重庆理工大学,重庆400054

出　　处：《自动化技术与应用》2021年第1期78-84,共7页Techniques of Automation and Applications

基　　金：国家自然科学基金青年基金(编号61502065);重庆市科学技术委员会基础与前沿研究重点项目(编号cstc2015jcyjBX0127);重庆市巴南区技术合作项目(编号[2016]33)。

摘　　要：抓取规划和控制是机械臂抓取系统中的难点。为了有效的解决这两个问题,本文提出一种基于机器视觉和单片机相结合的机械臂抓取系统。首先利用前期视觉测量成果对目标定位,然后设计了一种软件接口将目标表面三维信息进行可视化,并通过人为经验手动选择一个良好的抓取点;再结合逆运动学求解和轨迹规划算法,利用单片机驱动舵机使机械臂末端执行器移动到抓取点并完成抓取任务。实验结果表明,该系统成本低、并且目标形状不受限制,达到了预期效果。Object localization and arm control are the difficulties in the mechanical arm grab system.In order to effectively solve these two problems,mechanical arm grabbing system based on the combination of machine vision and microcontroller is presented.Firstly,object localization is carried out based on the research results of early visual measurement.A software interface is designed to visualize the 3d information of the object surface,and a grasping point is selected manually in the software interface through human experience.By means of inverse kinematics solution and trajectory planning algorithm,the three-dimensional coordinates of the grasping point are transformed into the control strategy of the manipulator arm movement process,and the manipulator steering gear is driven by a single chip microcomputer to move the end-effector to the grasping point and complete the grasping task.The experimental results show that the system has low cost and the shape of the object is unrestricted,and the expected effect is achieved.

关 键 词：机械臂 目标定位 单片机 逆运动学求解 轨迹规划 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术] TP242[自动化与计算机技术—计算机科学与技术]