基于视觉伺服的桌面型机械臂创新实验平台研制

摘要

研制了一种基于视觉伺服的桌面型机械臂创新实验平台,整个系统由机械臂本体、控制器、视觉伺服系统组成.机器臂共有3个自由度,分别由3个步进电机驱动;控制器采用主控板+驱动板的设计结构,具有结构简单、可扩展性强的优点;视觉伺服系统运行在主控板之上,能够通过摄像头采集目标物体图像信息,并将位置信息转换控制指令,控制机械臂完成物体抓取任务.实践表明该方案具有成本低、控制效果好、系统鲁棒性强的优点.%An innovative experimental platform for the desktop manipulator based on the visual servo is developed.The whole system consists of the manipulator body,controller and visual servo system.The manipulator body has three degrees of freedom,which are respectively driven by three stepper motors.The controller adopts the design structure of the main control board plus the drive board,which has the advantages of simple structure and strong extensibility.The visual servo system runs on the main control panel,and it can collect the target object image information through the camera,and transform the position information to the control instruction so as to control the manipulator to complete the object grabbing task.The practice shows that the scheme has the advantages of low cost,good control effect and strong robustness of the system.