摘要
设计了6自由度转动关节机器人机构.基于坐标变换,建立运动学模型.三级递阶控制的组织级采用PC机.利用视觉获取字符图像,通过网格化得到字符点阵.通过计算脊信息,得到笔画.利用笔画中心点的聚类分析确定书写顺序.协调级采用MSP430单片机实现通讯和多舵机协调运动.执行级基于舵机实现关节的位置闭环控制.在自主开发的样机上,开展了写字实验,验证了设计的有效性.
A lettering robot that can write Chinese characters seen by vision was studied. A robot mechanism with 6 degree of rotation freedom was designed. Through coordinate transformation, a kinematics model was established. A three-layer hierarchical control was built that consisted of a personal computer, MSP430 and a micro servo actuator. Based on a personal computer, a vision cam was used to get characters＇ pictures. Then character lattice was got through grid processing. The center point cluster analysis method was applied to plan strokes＇ writing order. MSP430 was used for communication to control multi actuators. The micro servo actuator implemented joint angle closed-loop control. Lettering tests were done on self-developed robots that demonstrate the design is valid. Smart lettering robots have plenty of education resources and can be used as a platform for robot study.
出处
《中国计量学院学报》
2009年第3期249-253,共5页
Journal of China Jiliang University
基金
浙江省"新苗人才"计划项目(No.2007R40G2080025)
关键词
机器人
运动学模型
字符识别
递阶控制
聚类分析
robot
kinematics
character recognition
hierarchical control
cluster analysis
