机械臂控制实验系统研究

Research of robot arm control system for experiment

针对机械臂在教学实验方面的应用相对欠缺这个问题,介绍了一种实验用多自由度机械臂计算机控制系统。系统由上下位机两级组成,下位机实现关节电机伺服控制、机械臂运行参数自动检测及与上位机的通信。上位机通过视频图像识别技术来规划运动路径,下传命令至下位机,实现自动循迹、工作状态实时显示、指定颜色或形状物体自动抓取等功能。实验结果表明,该系统达到了预期功能。

Aiming at the robot arm for experiment was applied too little,a robot arm control system for experiment was introduced in this study.The system was controlled by PC and under controller.The joint servo motor was controlled by under controller,and the real-time operating parameters were uploaded to the PC.The movement path was planned by PC through video image recognition technology,and the commands were downlinked to under controller.Automatically tracking,the working conditon displaying and the designated color or shape object crawling were controlled by the PC.The experiment results show that the system achieves the desired functions.