基于开放平台的机器人视觉抓取控制系统设计

摘要

设计了一个基于开放式运动控制平台的机器人视觉抓取控制系统.该系统将视觉技术与机器人运动控制系统相结合,采用模块化设计,利用TCP/IP网络实时传输实现信息交互,机器人在视觉引导下完成复杂条件下的抓取作业,系统的可靠性、实时性及可扩展性都得到了提高.该系统应用于自主研发的4轴关节式机器人,运行稳定可靠.%A robot vision grasping control system based on open control platform is designed.A vision technique together with a robot motion control system were integrated in the sytem,modular design was adopted to achieve the system architecture,and TCP/IP network real time transmission was used to realize the information interaction.Guided by the vision identification,grasping and carrying tasks were completed by the robot under complicated conditions,and reliability,real time and scalability of the control system were all improved.The system is applied to an independent research and development of the four-joint robot,and runs stable and reliable.