Research On Visual Control System Of Tank Transfer Manipulator

With the wide application of automatic manufacturing in the industrial field,the transfer manipulator is used for transfer tank between two stations.However,in the actual production,the position of the tank is not placed correctly or does not exist on the workstation,which causes the manipulator to fail to grasp and the misoperation.In order to improve this situation,the visual recognition system is introduced to judge whether the position of the tank is placed correctly.On this basis,this paper combines the visual recognition system and the PLC control system,and develops the control system based on LabVIEW and PLC,The main contents are as follows:(1)The overall structure of the system consists of a manipulator,a vision system,a PLC motion control module and a PC.Acquiring the image of tank,processing the image to obtain the coordinates and determine it to driving the manipulator action correctly.(2)The D-H coordinate system of manipulator is established by using the D-H coordinate method,the D-H parameters are obtained,the kinematics equation of the manipulator is established,and the forward and inverse solution of the manipulator is derived.On the basis of kinematics analysis,trajectory planning is designed and simulated by MATLAB.(3)By means of the camera calibration,image acquisition and processing,image coordinate transformation,determining the space coordinates of tank.Using WPLSOFT to develop the ladder diagram program of lower computer PLC,which including manual procedures and automatic procedures.The upper computer of the control system is developed by LabVIEW software,which is divided into the manipulator motion control part and the vision system identification part.(4)The hardware platform of the control system is set up,and the reliability and validity of the software and hardware of the manipulator control system are verified by the functional verification experiment of the manipulator trajectory and other module.The man-machine interface is friendly and easy to operate,and its functional module can meet the requirements of the whole control system.It can realize the transfer of the tank under the guidance of the visual system.