Research And Design Of Industrial Robot Arm Based On Machine Vision

With the development of information and intelligence,Smart robotic arm technology has been widely used in all walks of life.In more recent years,machine vision-based image processing technologies and robotic arm control algorithms have become research hotspots in various countries.Therefore,higher requirements are placed on the intelligentization of industrial robot arms.This article designed a machine vision based industrial robot control system.The design of this article mainly consists of hardware,software and control algorithm.Hardware and software systems mainly include: image acquisition system,main controller(upper computer),motion controller(lower computer)and servo drive system.The image acquisition system is responsible for completing the collection of object image information and sending the information to the host computer for processing.The host computer is mainly responsible for image data analysis and path trajectory planning,and is also responsible for sending control instructions;the motion controller is respons and then the robotic arm graspe the goal object for receiving the main control.The controller controls the commands and drives the robot arm to perform the corresponding actions;at the same time,the servo drive system is required to control the peripheral equipment to coordinate the robot arm to complete.The control algorithm of this paper mainly consists of target recognition algorithm and RRT path planning algorithm.The target recognition algorithm mainly includes image processing algorithms of traditional machine vision: grayscale processing,edge detection,and black and white binarization.The target recognition process first uses median filtering to reduce the noise of the original image,and then uses the gray binary method to segment the image to find the target area in the image;the identified target is subjected to position coordinate conversion from the computer.The two-dimensional coordinate system is transformed into the world three-dimensional coordinate system.The path planning adopts the RRT algorithm to realize the path planning of the target object through the known position coordinates,and then the robotic arm is grasped.Simulation experiments show that the RRT path planning algorithm can initially achieve target path planning,the work efficiency can be improved.