计算机视觉的桌面型机械臂实验平台设计  

Design of Robotic Arm Experimental Platform with Desktop Manipulator Based on Computer Vision

作　　者：金慧萍 兰天翔 刘腾 于佳琳 陈勇[2] JIN Huiping;LAN Tianxiang;LIU Teng;YU Jialin;CHEN Yong(Engineering Training Center,Nanjing Forestry University,Nanjing 210037,China;College of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing 210037,China;Institute of Advanced Agricultural Sciences,Peking University,Weifang 261325,Shandong,China)

机构地区：[1]南京林业大学工程培训中心,南京210037 [2]南京林业大学机械电子工程学院,南京210037 [3]北京大学现代农业研究院,山东潍坊261325

出　　处：《实验室研究与探索》2023年第6期46-50,共5页Research and Exploration In Laboratory

基　　金：国家自然科学基金项目(32072498);江苏省重点研发计划项目(BE2021016);江苏省农业科技自主创新资金项目(CX(21)3184)。

摘　　要：为了提升机器人实训教学水平,设计了一种基于计算机视觉的桌面型机械臂实验平台。该平台由执行系统、控制系统及软件系统组成。执行系统(机械臂本体)包括3个自由度的机械臂、吸盘、机械夹爪及画笔,可根据实验平台多种控制方式自由搭配末端执行器;控制系统由STM32控制器及其驱动板等硬件组成,采用串口通信方式,接收上位机控制指令,实现机械臂各关节的运动控制功能;软件系统是基于计算机视觉技术,利用Python语言工具,将摄像头采集到的目标物体位置信息转换成坐标控制指令,从而实现机械臂关节坐标控制、捕捉手势移动控制以及依据鼠标的移动轨迹进行示教复演等控制方式。实验结果表明,该实验平台能有效完成多种控制功能,且有结构简单、搭建方便、可操作性强、易于学习理解的优点。In order to improve the teaching level of robot training,a desktop robot arm innovation experiment platform based on computer vision is designed.The platform consists of execution system,control system and computer software system.The execution system includes 3 degrees of freedom robot arm,suction cup,mechanical claw and brush,and can be freely matched with the end-effector according to a variety of control methods of the experimental platform;The control system is composed of STM32 controller and its driver board and other hardware,and adopts the serial communication method to receive control commands from the upper computer and realize the motion control function of each joint of the robotic arm.The software system is based on computer vision and using Python language.The target object position information collected by the camera is converted into coordinate control commands,so as to realize the control methods of robot arm joint coordinate control,capture gesture movement control and teach replay based on the mouse movement trajectory.The experimental results show that the experimental platform can effectively complete a variety of control functions,and has the advantages of simple structure,easy to build,operability,and easy to learn and understand.

关 键 词：桌面型机械臂 实验平台 计算机视觉 多功能控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]