罐体移送机械手视觉控制系统的研究

发布时间：2018-03-28 04:38

本文选题：机械手　切入点：机器视觉　出处：《华东理工大学》2017年硕士论文

【摘要】：随着自动化制造在工业领域的广泛应用,进行冲压罐体工位之间的罐体移送也采用了机械手,逐步实现了生产的自动化。但是,在实际生产中,由于冲压罐体摆放位置不到位或者工位上没有罐体存在,则会导致机械手抓取失败和误动作,使得加工工时增加和生产效率降低。为了改善这种情况,引进了视觉识别系统,对工位上罐体的位置摆放进行有效判定。在此基础上,本文将视觉识别系统与PLC控制系统相结合,研究开发了基于LabVIEW和PLC的罐体移送机械手视觉控制系统,主要内容如下:(1)系统总体结构包括机械手、视觉识别系统、PLC运动控制部分及上位机PC,使其各部分相互配合协作。通过视觉识别系统对获取的罐体图像进行图像处理从而得到罐体坐标,随后进行罐体摆放位置的正误判定,驱使机械手正确移送动作。(2)采用D-H坐标法对机械手建立D-H坐标系并分析而获取D-H参数,建立机械手运动学方程,推导其机械手正逆解,得到机械手位姿与关节变量的关系。在运动学分析和轨迹规划的理论基础上,利用MATLAB对所规划的轨迹进行仿真。(3)通过相机标定、图像采集及处理、图像坐标转换,确定罐体空间坐标。利用WPLSOFT开发下位机PLC程序,包含手动和自动程序。控制系统的人机界面采用LabVIEW开发,包括机械手运动控制部分与视觉系统识别部分。(4)搭建控制系统的硬件平台并进行机械手运动轨迹及其它模块的功能性验证试验,确保该控制系统软硬件的可靠性和有效性。人机界面设计友好且操作方便,其功能模块完全满足整个控制系统的要求,能实现机械手在视觉系统的引导下进行罐体移送工作。
[Abstract]:With the wide application of automatic manufacturing in the field of industry, a manipulator is used to transfer the tank between stamping tank stations, which realizes the automation of production step by step. However, in actual production, Because the position of the stamping tank is not in place or there is no tank in the working position, it will lead to the grasping failure and misoperation of the manipulator, thus increasing the working hours and reducing the production efficiency. In order to improve this situation, a visual recognition system has been introduced. In this paper, the visual recognition system is combined with the PLC control system, and the visual control system of the tank transfer manipulator based on LabVIEW and PLC is researched and developed. The main contents are as follows: 1) the overall structure of the system includes the manipulator, The motion control part of PLC and the PC of the upper computer are used in the visual recognition system to cooperate with each other. Through the visual recognition system, the tank image is processed to get the tank coordinates, and then the tank position is judged correctly and wrongly. The D-H coordinate system is established and analyzed to obtain the D-H parameters, the kinematics equation of the manipulator is established, and the direct and inverse solution of the manipulator is deduced. On the basis of kinematics analysis and trajectory planning theory, we use MATLAB to simulate the planned trajectory through camera calibration, image acquisition and processing, image coordinate transformation. Determine the space coordinates of the tank. Develop the PLC program of the lower computer with WPLSOFT, including manual and automatic program. The man-machine interface of the control system is developed by LabVIEW. The hardware platform of the control system is built up including the manipulator motion control part and the visual system identification section .4) and the functional verification test of the manipulator motion trajectory and other modules is carried out. The man-machine interface is designed friendly and easy to operate, and its function module fully meets the requirements of the whole control system, and the robot can be transferred to the tank under the guidance of the visual system.
【学位授予单位】：华东理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241

【相似文献】