Research On Trajectory Planning And Character Recognition Method Of Chip Assembly Robot

The chip is the foundation of the electronics industry.The identification character on the chip indicates the name and function information of the chip,which makes it easy to classify and use the chip.In the production process,the chip identification character detection is the key technology in the chip manufacturing process.The traditional detection and classification method has low efficiency and poor reliability,so it can not meet the needs of intelligent chip recognition and detection.In this paper,using the mechanical arm and machine vision technology,combined with the industrial control technology,the research work of the chip identification character defect detection and manipulator grab system has been carried out by using the printed chip as the detection object,using the mechanical arm and machine vision technology,and combining with the industrial control technology.The specific contents of this paper are as follows:Firstly,the modeling and kinematics analysis of the manipulator are completed.The model of the manipulator is built based on the D-H method,and the forward kinematics solution is solved.The inverse kinematics is decoupled and analyzed by using the center point of the wrist.Finally,the 3D model of manipulator is simulated by Robotics toolbox in Matlab environment,and the correctness of kinematic solution is verified.Secondly,the trajectory planning analysis of the manipulator is completed.Trajectory planning is studied in joint space and Cartesian space.Polynomial interpolation function and arc interpolation are used to calculate and analyze trajectory planning.The correctness of trajectory planning is verified by simulation.Moreover,the chip character recognition and template establishment were completed.Based on Halcon software,chip image acquisition,threshold segmentation,morphological expansion,corrosion processing,eigenvalue extraction and other operations are carried out.The chip character recognition and analysis are completed,and the chip matching template is built with the reference chip image.Finally,on the basis of visual guidance,the six-degree-of-freedom manipulator control experiment is carried out based on the FVRTS experimental platform,and the chip grabbing experiment is completed,and the chip elimination is realized.The successful application of the system will greatly improve the factory quality of the chip,increase the reliability of the use of the chip,reduce the waste of human resources,and can be used for reference to identify and judge other characters.