Design Of Automatic Laser Sandblasting Robotic Arm Control System For Coin Die

In recent years,with the gradual maturity and rapid development of automation technology,robotic arms have been widely used in transporting objects.However,in the field of laser sandblasting of coin die,due to the accuracy of its position coordinates and angular deviation,the existing robotic arm solutions can only transport the die in a fixed position,and cannot realize the functions of automatic recognition and positioning of the coin die.Therefore,the development of image-based high-precision positioning and control system design has important practical application value.To this end,this thesis have done the following main work.First of all,according to the system control requirements of the coin die automatic laser sandblasting robot arm,the image visual processing unit and the motion actuator unit are coordinated to control the robot arm to realize the automatic recognition and positioning of the coin die.The overall control plan of the system is completed,and the movement deviation of the mechanical arm is automatically corrected,so that the initial placement position of the coin die can be unrestricted,which is more conducive to the improvement of the production efficiency of the coin die laser sandblasting.Secondly,based on the LabView software development platform,image preprocessing,image segmentation and image recognition methods are used to determine the die position coordinates.The tangential distortion and radial distortion parameter compensation algorithms are used to solve the problem of distortion caused by the influence of the external environment on the image of the coin die when the camera is calibrated,and to improve the accuracy of the position coordinates of the die image.Based on the least square method,the best shooting position of the CCD is determined,which further improves the positioning accuracy of the coin die.Then,the mathematical model of the automatic laser sandblasting robot arm for coin die is established,and the D-H control parameters of the robot arm at any position of the die are calculated.On this basis,the calculation of the steering gear angle of the robot arm grasping the coin die at this position is completed.Based on the Arduino software development platform,it completes the control and correction of the motion trajectory of the robotic arm,and improves the accuracy of the moving mechanism to carry the coin die.Finally,a simulation experiment is carried out on the image vision processing unit and the motion mechanism control unit in the control system of the coin die automatic laser sandblasting robot arm.Through the experimental platform,the feasibility of the robotic arm control scheme was verified to meet the automatic laser sandblasting requirements of coin die,which is of great significance to the development of automation in the field of coin die manufacturing.