机器人手臂控制系统的设计与研究

Design and research of robot arm control system

机器人在工业上已经取得了非常大的进步,尤其是视觉传感器的应用对于机器人的智能化有很大的帮助。基于DMC5480运动控制卡,通过视觉处理系统实现了RS232串行通信,设计了一套可识别机器人手臂的精准定位系统,详细研究了控制系统硬件,规划了控制系统控制策略,编写了上位机操作软件。最后设计了一套带视觉识别的象棋机器人手臂。实验结果表明,机器人手臂可以代替人手功能在工作区域内沿任意轨迹运动。

Based on the DMC5480 motion control card,the RS232 serial communication is achieved by using the visual processing system,and a precise positioning system that can identify the robot arm is designed.The control system hardware is studied in detail and its control strategy is planned followed by preparing the PC operating software.Finally,an arm of a chess robot with visual recognition is designed.Experimental results show that the robot arm can replace the manual function along an arbitrary trajectory in the work area.