摘要
基于机械臂高度自动化,可靠性强,识别抓取精度高等特点,文章将采用FPGA、K210、三轴步进电机、三自由度机械臂、摄像头等模块设计开发一套三轴并行驱动机械臂,该机械臂可进行物体识别,还可用于流水作业线和个体货仓搬运工作中的三自由度搬运机械臂。将基于K210发送的指定颜色物体坐标数据,从而控制FPGA产生相应不同脉冲宽度(PWM)波形来控制机械臂的稳定运行,实现自动稳定抓取指定物体。
Based on the features of high automation,reliability and accuracy of recognition and grasping,in this paper,a set of three-axis parallel manipulator which can recognize objects and can be used in assembly line and individual warehouse is designed and developed by using FPGA,K210,three-axis stepper motor,three-degree-of-freedom manipulator and camera.The designated color object coordinate data sent by K210 is used to control the stable operation of the manipulator arm by controlling FPGA to generate different pulse width(PWM)waveforms.
出处
《科技创新与应用》
2021年第16期36-39,共4页
Technology Innovation and Application
基金
江苏省高等学校大学生创新创业训练项目(编号:202011276042Y)。
关键词
三自由度
颜色识别
FPGA
three degrees of freedom
color recognition
FPGA
