摘要
本项目是基于ARDUINO,采用C语言进行编程,通过Open MV进行颜色识别的六自由度机械臂系统。根据任务使用要求,该六自由度机械臂可以通过二维码扫描模块获取任务信息并对处于静止状态不同颜色的物块进行识别,从而进行抓取和放置等工作。文章对六自由度机械臂的机械、电控设计方案和运动学分析做了简要介绍,对机械臂固定位置的调参和Open MV颜色识别方案以及相关程序算法进行了叙述,并对现有颜色识别提出更为准确的改进方法,为准备物流小车比赛以及学习自动化控制的人群提供参考。
This project is a six-degree-of-freedom manipulator system based on ARDUINO,programming with C language and color recognition through Open MV.According to the requirements of the task,the six-degree-of-freedom manipulator can obtain the task information through the two-dimensional code scanning module and identify the blocks of different colors in the static state,so as to grab and place.This paper briefly introduces the mechanical and electronic control design scheme and kinematics analysis of the six-degree-of-freedom manipulator,describes the parameter adjustment and Open MV color recognition scheme of the fixed position of the manipulator and the related program algorithm,and puts forward a more accurate improvement method for the existing color recognition,which provides a reference for preparing for the logistics car race and learning automatic control.
出处
《科技创新与应用》
2022年第2期63-65,共3页
Technology Innovation and Application
基金
沈阳航空航天大学大学生创新训练项目资助(编号:S202010143047)。
