| 小型智能涂胶机器人建模与控制系统设计 |
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| 引用本文： | 金英连,徐崟,郭振武,王斌锐. 小型智能涂胶机器人建模与控制系统设计[J]. 计算机工程, 2011, 37(10): 173-175. DOI: 10.3969/j.issn.1000-3428.2011.10.059 |
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| 作者姓名： | 金英连 徐崟 郭振武 王斌锐 |
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| 作者单位： | 1. 中国计量学院机电工程学院,杭州,310018
2. 中国计量学院机电工程学院,杭州,310018;中国计量学院机电工程学院,杭州,310018 |
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| 基金项目： | 浙江省自然科学基金资助项目，机器人学国家重点实验室开放基金资助项目 |
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| 摘 要： | 为使涂胶机器人可涂任意鞋底轨迹,提出带摄像头的智能涂胶机器人.设计机构模型,利用齐次变换矩阵建立运动学模型,并进行Simulink运动仿真.控制器采用2层递阶的DSP加PC机结构,USB摄像头捕获鞋底图像,VC++实现边缘提取,并通过坐标变换得到机器人关节轨迹.DSP直流无刷电机控制器采用增量PID闭环控制算法.在自主...
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| 关 键 词： | 智能机器人 建模 Simulink仿真 边缘检测 控制系统 |
Modeling and Control System Design for Small Intelligent Glue-robot |
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| JIN Ying-lian,XU Yin,GUO Zhen-wu,WANG Bin-rui. Modeling and Control System Design for Small Intelligent Glue-robot[J]. Computer Engineering, 2011, 37(10): 173-175. DOI: 10.3969/j.issn.1000-3428.2011.10.059 |
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| Authors: | JIN Ying-lian XU Yin GUO Zhen-wu WANG Bin-rui |
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| Affiliation: | 1,2(1.College of Mechanical and Electrical Engineering,China Jiliang University,Hangzhou,310018,China;2.State Key Laboratory of Robotics,Shenyang 110016,China) |
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| Abstract: | In order to make glue-robot fit for variable shoe sole,a small robot with camera is proposed in this paper.Mechanism is designed and kinematics model is derived.Then based on Matlab/Simulink,simulation platform is established and motion is simulated.Two-layer hierarchical control system is designed.USB camera is used to capture sole image and edge is detected using VC＋＋ procedure.Edge track is translated to joint angle curve through kinematics model.Brushless DC motor is adopted to driven joint and controlled by DSP using incremental PID control algorithm.Tests are done on the self-develop robot prototype.Results show that intelligent glue-robot proposed can work for various sole and system is applied. |
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| Keywords: | intelligent robot modeling Simulink simulation edge detecting control system |
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