摘要
本文介绍一种食品包装生产线的机器人控制系统。基于视觉系统获得生产线上被包装物体的位置与几何信息，利用惯量分析原理确定抓取点，采用矢量控制与学习控制方法调节机器人抓取器对物体实施稳定抓取。仿真及实验结果证明了控制策略的有效性。
A kind of robot control system for the production line of food packaging is introduced in this paper.The position and geometrical information of packaged objects are obtained based on vision system. The grasping points are determined using inertia vector analysis. By vector control and learning control methods,the gripper of robot is controlled to grasp stably the objects. The effectiveness of the control methods is proved by experiment and simulation results.
出处
《电气传动》
北大核心
2000年第1期27-30,共4页
Electric Drive
基金
国家教委留学回国科研基金
沈阳市科委基金
中国科学院机器人学开放实验室基金
英国EPSRC基金
