基于视觉识别的随动机械臂实验装置设计  

Design of experimental device for follow-up robot arm based on visual recognition

作　　者：殷孝雎 周莉 孙志强 郑闯 李波 YIN Xiaoju;ZHOU Li;SUN Zhiqiang;ZHENG Chuang;LI Bo(School of Renewable Energy,Shenyang Institute of Engineering,Shenyang 110136,China;Shenyang Aircraft Industry(Group)Co.,Ltd.,Shenyang 110850,China)

机构地区：[1]沈阳工程学院新能源学院,辽宁沈阳110136 [2]沈阳飞机工业(集团)有限公司,辽宁沈阳110850

出　　处：《实验技术与管理》2023年第11期168-174,共7页Experimental Technology and Management

基　　金：辽宁省应用基础研究计划(2022JH2/101300251)。

摘　　要：为了使机械臂适应智能制造业高灵活度的要求和不断变化的场景需求,该文设计了一套人机结合的实验装置。该装置使用双摄像头采集图像,嵌入式核心模块处理人体手臂动作图像,提取标识点,确认坐标值并将其输入运动数学模型。基于模糊控制理论驱动4个小型直流伺服电机,实现4自由度的机械臂随动功能。该装置可作为机器人工程和智能制造工程等专业的实验教学设施,有助于帮助学生深入理解控制理论,并提高学生的动手能力。In order to make the manipulator adapt to the high flexibility requirements of the intelligent manufacturing industry and the changing scene requirements,this paper designs a set of man-machine combination experimental device.The device uses a dual camera to collect images,and the embedded core module processes the human arm motion image,extracts the identification points,confirms the coordinate values,and inputs them into the motion mathematical model.Based on the fuzzy control theory,4 small DC servo motors are driven to realize the follow-up function of the manipulator with 4 degrees of freedom.The device can be used as an experimental teaching facility for robotics engineering and intelligent manufacturing engineering,which can help students understand the control theory deeply and improve their practical ability.

关 键 词：随动机器臂 模糊控制 数学模型 4自由度机械臂 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]