摘要
目的针对我国食品生产和包装存在的效率低、分拣精度不高等问题,基于并联机器人设计一种包装分拣控制系统。方法根据机器人自动分拣系统的结构,采用一种基于时间和工件位置的图像去重复算法,以去掉重复信息。为了提高抓取精度,基于PID算法设计一种位置跟踪控制器,能够判断物体位置并实时调整并联机器人末端执行器,以实现目标物体的动态跟踪和抓取。结合工业控制机和运动控制卡搭建控制系统,并进行实验研究。结果实验过程中最快分拣速度可达到120次/min,漏抓率为0,误抓率小于0.2%。结论所述控制系统具有较高的稳定性和准确性,可满足实时性要求。
The work aims to design a kind of packaging and sorting control system based on parallel robot regarding the problem of low efficiency and sorting accuracy in food production and packaging. According to the structure of automatic sorting system of robot, an image deduplication algorithm based on time and workpiece position was used to remove duplicate information. In order to improve the grasping precision, a position tracking controller was designed based on PID algorithm. The object position could be judged and parallel robot terminal actuator could be adjusted in real time, so as to realize the target object＇s dynamic tracking and grabbing. Combined with industrial control machine and motion control card, the control system was built and experiment research was carried out. In the experiment, the fastest sorting speed could reach 120 times/min, the leakage rate was 0 and the false catch rate was less than 0.2%. The proposed control system has higher stability and accuracy, which can meet the real-time requirement.
作者
付瑞玲
禹春来
范甜甜
FU Rui-ling;YU Chun-lai;FAN Tian-tian(Huanghe S＆T University, Zhengzhou 450000, Chin)
出处
《包装工程》
CAS
北大核心
2018年第11期204-208,共5页
Packaging Engineering
基金
河南省科技计划(172102210379)
河南省教育厅自然科学计划(17A413008)
