使用反步法控制实时称重机械臂对水产品分拣加工的改进

摘要

目前在国内规则物体分拣技术比较成熟，并且也得到了广泛应用。但是对非规则物品的加工分拣技术还是比较落户。传统的水产品分拣方法整个分拣过程操作复杂、花费时间较长，同时分拣的效率与准确度比较低。本文给出的反步法控制实时称重机械臂分拣系统与视觉识别相结合，集成称重、自动规划路线、分拣于一体，与传统分拣相比，具有称重简单，生产节拍短，成本低，节约成本，生产效率提高等特点。%At present the rule object sorting technology is mature and is widely used in the domestic.But the process and items technology for irregular items is settled.The sorting process the traditional method of sorting of aquatic products operation is complicated and time is long.At the same time sorting efficiency and the accuracy is lower.In this paper,we use backstepping method control the sorting system of the real-time weighing mechanical arm.we give the mechanical arm,integrated weighing,automatic planning route,sorting into an organic whole,compared with the traditional sorting,weighing with simple,short production rhythm,low cost,cost savings,improve production efficiency,etc.