基于机器视觉的自动上料机械手运动控制-机械电子工程专业论文.docxVIP

东华大学硕士学位论文AB 东华大学硕士学位论文 ABSTRACT II II MOTION CONTROL OF AUTOMATIC FEEDING MANIPULATOR BASED ON MACHINE VISION ABSTRACT Machinery manufacturing automation has been the goal of manufacturing industry for the sake of long-term development. The implementation of automation can greatly reduce the labor intensity, improve product quality, enhance the ability of enterprises to adapt to the market, and improve competitiveness. In this paper, the motion control of automatic feeding manipulator was researched. The main research contents are as follows: Design of the automatic loading control system: The system includes a transmitting device AGV, robots, material and visual system, and all the parts cooperate with each other through the control. AGV transported the box filled up with materials, machine vision was used to get images of the parts inside the box, and then the parts posture obtained by image processing was sent to the robots, so that the manipulator was drived to grab parts and sent them to the designated location. Kinematics analysis of the manipulator: the D-H method is adopted for manipulator kinematics analysis, the D-H coordinate system was established, D-H parameters were analyzed, the manipulator kinematics model is established. The positive solutions of are derived, using movement characteristics of the manipulator and piper criterion for manipulator inverse solution to get joint variables. Vision-based gesture detection of parts: the camera calibration, image acquisition, image processing, identification features, and ultimately determine the attitude of parts. Zhangs calibration method was employed to calibrate the CCD camera, a single part was filmed, and then the part template acquired by image processing was saved to identify the parts of the visual system after feedback. Through the image processing software- Halcon to do real-time image acquisition, image preprocessing, and then using a template matching method to get the gesture s of various part