Research On Visual Control System Of Tank Transfer Manipulator

The metal tank is usually stamped on the production line.With the development of industrial automation,more and more factories have introduced the manipulator on the tank stamping line.The adaptive ability of the traditional manipulator control is poor.When the location of the target workpiece is unknown,it can not be adjusted in time.In order to improve the situation,machine vision is introduced to recognize the position of tank and fixture position,which greatly increases the control flexibility of the whole transfer system.On this basis,we combine visual recognition system,PLC control system and mobile network control system three,and develop a manipulator control system based on machine vision.The following work has been carried out in this paper:(1)A full feedback control system based on three core hardware of PLC,PC and industrial camera is built,so that the tank can be placed in a certain range,and the manipulator can finish grasping by changing the path in real time.Compared with the traditional tank transfer line,the system has a high degree of control flexibility.(2)The circle Hough transform is used as the core algorithm,combined with the camera calibration technique,to realize the reconstruction of fixture is composed of a tank,two-dimensional images to three-dimensional coordinates.Combined with the inverse kinematics of manipulator,the correct motion parameters of the manipulator are deduced from the images.(3)Use MATLAB Robotic Toolbox to simulate the trajectory of the manipulator,and provide simulation support for the trajectory planning of the manipulator.Based on the exponential motor acceleration algorithm,a two stage exponential acceleration algorithm is designed to make full use of the motor torque.(4)The construction of the hardware system includes the selection of hardware,and the hardware connection is carried out according to the electrical schematic diagram.The software system includes the development of three parts of the PC host computer,the PLC lower machine and the Android client,and expounds the key computer technology used.(5)Test the functional modules of each part of the system to ensure the high reliability and sensitivity of each unit work.Several tests on the whole system are carried out to verify that the system can work properly.The developed software system runs normally in the actual test,the man-machine interface is clear and concise,and meets the expected design requirements.