采摘机器人机械臂运动控制与目标抓取研究——基于嵌入式和机器视觉技术  

Research on Motion Control and Target Grasping of Picking Robot Manipulator——Based on Embedded and Machine Vision Technology

作　　者：刘力维[1] Liu Liwei(Beijing Information Technology College,Beijing 100018,China)

机构地区：[1]北京信息职业技术学院,北京100018

出　　处：《农机化研究》2024年第4期68-72,共5页Journal of Agricultural Mechanization Research

基　　金：职业教育计算机应用技术专业教学资源库项目(2-2-2-07)。

摘　　要：首先,从整体方案、视觉定位系统和运动控制系统完成了对采摘机器人机械臂控制系统的设计;然后,基于图像处理技术设计了目标物体识别与抓取策略;最后,基于RRT算法研究了对采摘机器臂运动轨迹的控制方法,实现了对采摘机器人机械臂运动控制与目标抓取系统。采摘试验结果表明:系统对苹果的识别和定位准确度比较高,采摘成功率达到了100%,对采摘机器人自主采摘的实现具有一定的现实意义。It first completes the design of the control system of the manipulator of the picking robot from the overall scheme,the visual positioning system and the motion control system,then designs the target object recognition and grasping strategy based on image processing technology,finally studies the control method of the trajectory of the manipulator of the picking robot based on RRT algorithm,and realizes the motion control and target grasping system of the manipulator of the picking robot.The picking experiment results show that the system has a high accuracy in apple recognition and positioning,and the successful picking rate has reached 100%,which confirms that the system has a high accuracy,and has certain practical significance for the realization of autonomous picking by picking robots.

关 键 词：采摘机器人 机械臂 运动控制 视觉定位 图像处理 RRT 

分 类 号：S225[农业科学—农业机械化工程] TP241[农业科学—农业工程]