基于OpenCV视觉引导的多自由度机械臂的研究与应用  

Research and Application of Robot Arms with Multiple Degrees of Freedom Based on OpenCV Visual Guidance

作　　者：张斌[1] ZHANG Bin(Qingdao Harbour Vocational&Technical College,Qingdao,Shandong Province,266404 China)

机构地区：[1]青岛港湾职业技术学院,山东青岛266404

出　　处：《科技资讯》2024年第10期52-54,共3页Science & Technology Information

基　　金：青岛港湾职业技术学院科研课题“‘物联网+’模式下多自由度机械手臂的研究与应用”(项目编号:QDGW2018Z13)。

摘　　要：主要通过硬件系统和软件系统的设计对多自由度机械手臂进行了深入研究。采用STM32系列单片机作为机械手臂的主控单元,对载有弯曲传感器的虚拟现实设备进行运动姿态数据采集、无线发送与接收,实现对机械手臂末端控制器的远程实时控制。同时,利用OpenCV视觉引导技术对采集的目标物体图像进行识别与处理,系统能够准确定位和识别图像的空间坐标,通过PID控制算法使机械手臂能按照指定位置和预定速度正确识别和抓取目标物体。This article mainly conducts in-depth research on robot arms with multiple degree of freedom through the design of hardware and software systems.It uses the STM32 series microcontroller as the main control unit of the robot arm,and collects,wirelessly transmits and receives the motion attitude data of virtual reality devices carry-ing bending sensors,so as to achieve the remote real-time control of its end controller.At the same time,it uses OpenCV visual guidance technology to recognize and process the collected target object images,and the system can accurately locate and recognize the spatial coordinates of the images and enable the robot arm to correctly recognize and grasp the target object according to the specified position and predetermined speed through PID control algo-rithm.

关 键 词：机械手臂 实时控制 视觉引导 PID控制算法 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]