基于机器视觉与单片机结合的机械臂抓取系统

抓取规划和控制是机械臂抓取系统中的难点。为了有效的解决这两个问题,本文提出一种基于机器视觉和单片机相结合的机械臂抓取系统。首先利用前期视觉测量成果对目标定位,然后设计了一种软件接口将目标表面三维信息进行可视化,并通过人为经验手动选择一个良好的抓取点;再结合逆运动学求解和轨迹规划算法,利用单片机驱动舵机使机械臂末端执行器移动到抓取点并完成抓取任务。实验结果表明,该系统成本低、并且目标形状不受限制,达到了预期效果。

Mechanical Arm Grabbing System Based on Combination of Machine Vision and Microcontroller

Object localization and arm control are the difficulties in the mechanical arm grab system.In order to effectively solve these two problems,mechanical arm grabbing system based on the combination of machine vision and microcontroller is presented.Firstly,object localization is carried out based on the research results of early visual measurement.A software interface is designed to visualize the 3d information of the object surface,and a grasping point is selected manually in the software interface through human experience.By means of inverse kinematics solution and trajectory planning algorithm,the three-dimensional coordinates of the grasping point are transformed into the control strategy of the manipulator arm movement process,and the manipulator steering gear is driven by a single chip microcomputer to move the end-effector to the grasping point and complete the grasping task.The experimental results show that the system has low cost and the shape of the object is unrestricted,and the expected effect is achieved.