智能拾取机械臂系统  

Intelligent Pick-up Robotic Arm System

作　　者：顾勇[1,2] 袁鸿斌 吴小涛[1,2] Gu Yong;Yuan Hongbin;Wu Xiaotao

机构地区：[1]杭州师范大学钱江学院,杭州310036 [2]杭州师范大学工学院,杭州310036

出　　处：《机械制造》2023年第10期8-10,共3页Machinery

基　　金：杭州师范大学钱江学院科学研究基金资助项目(编号:2023QJJL03)。

摘　　要：机械臂是一种臂型机器人,随着使用要求的不断提高,传统机械臂不具备自动控制能力的缺点逐渐显现出来。搭建了一套智能拾取机械臂系统,引入机器视觉来引导机械臂的运动规划,搭载视觉传感器对混合场景下需要抓取的目标进行识别分类,并估计目标在三维空间中的位姿,从而引导、移动机械臂靠近目标,完成拾取任务。介绍了智能拾取机械臂系统的整体结构,分析了视觉识别系统和控制系统,并制作了样机。The robotic arm is a kind of arm-typed robot.With the continuous improvement of the usage requirement,the shortcoming of traditional robotic arm that does not have automatic control capability is gradually becoming apparent.A set of intelligent pick-up robotic arm system was built,and machine vision was introduced to guide the motion planning of the robotic arm.The system carries visual sensor to recognize and classify the grabbed target in a mixed scene,and estimates the position of the target in three-dimensional space,so as to guide and move the robotic arm close to the target to complete the pick-up task.The overall structure of the intelligent pick-up robotic arm system was introduced,and the visual recognition system and control system were analyzed.Then,a prototype machine was made.

关 键 词：机械臂 拾取 系统 设计 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]