摘要
研制了一种基于视觉伺服的桌面型机械臂创新实验平台,整个系统由机械臂本体、控制器、视觉伺服系统组成。机器臂共有3个自由度,分别由3个步进电机驱动;控制器采用主控板+驱动板的设计结构,具有结构简单、可扩展性强的优点;视觉伺服系统运行在主控板之上,能够通过摄像头采集目标物体图像信息,并将位置信息转换控制指令,控制机械臂完成物体抓取任务。实践表明该方案具有成本低、控制效果好、系统鲁棒性强的优点。
An innovative experimental platform for the desktop manipulator based on the visual servo is developed.The whole system consists of the manipulator body,controller and visual servo system.The manipulator body has three degrees of freedom,which are respectively driven by three stepper motors.The controller adopts the design structure of the main control board plus the drive board,which has the advantages of simple structure and strong extensibility.The visual servo system runs on the main control panel,and it can collect the target object image information through the camera,and transform the position information to the control instruction so as to control the manipulator to complete the object grabbing task.The practice shows that the scheme has the advantages of low cost,good control effect and strong robustness of the system.
作者
杨亮
郭志军
李文生
王博轩
Yang Liang;Guo Zhijun;Li Wensheng;Wang Boxuan(Zhongshan Institute, University of Electronic Science and Technology of China, Zhongshan 528402, China;Zhongshan Broad Ocean Motor Ltd., Co., Zhongshan 528402, China)
出处
《实验技术与管理》
CAS
北大核心
2018年第5期92-94,101,共4页
Experimental Technology and Management
基金
全国教育信息技术研究重点课题(176120002)
广东省本科高校高等教育教学改革项目(S-JY201704)
广东省自然科学基金项目(2016A030313018)
电子科技大学质量工程项目(精品资源共享课ZYGX201601)
中山市科技计划项目(2016A1028
2017A1024
2017SF0603)
关键词
桌面型机械臂
视觉伺服
物体抓取
创新实验
desktop manipulator
visual servo
object grasping
innovative experiment
