基于视觉的并联移苗移栽机械臂运动控制分析

为了满足移苗移栽作业自动化对精度、速度和灵活性的需求,基于Delta机构设计了一种并联构型的穴盘移栽机械臂,建立了机械臂的运动学模型。本文在移栽机械臂的基础上增加了视觉识别环节,以相机获得幼苗图片,将相片传递至中央处理器完成图片预处理,对图像进行光滑、增强处理和识别,提取图片特征,计算出作业对象中心位置,将中心位置反馈至中央处理器,计算出运动量,中央处理器输出指令,从而控制末端执行器完成作业。

Motion Control Analysis of Delta Parallel Transplanting Manipulator Based on Vision

In order to meet the requirements of precision, speed and flexibility in the automation of transplanting and transplanting, this paper designs a plug-in robotic arm with parallel configuration based on Delta mechanism, establishes the kinematic model of the robot arm, and transplants it. The visual recognition link is added on the basis of the robot arm to obtain the seedling picture by the camera, the photo is transmitted to the central processing unit, the picture preprocessing is completed, the image is smoothed and enhanced, the image is recognized, the picture feature is extracted, and the work object is calculated. The center position, the center position is fed back to the central processing unit, the amount of exercise is calculated, and the central processor outputs an instruction to control the end effector to complete the work.