计算机工程2011，Vol.37Issue(10)：173-175,3.DOI:10.3969/j.issn.1000-3428.2011.10.059
小型智能涂胶机器人建模与控制系统设计
Modeling and Control System Design for Small Intelligent Glue-robot
摘要
Abstract
In order to make glue-robot fit for variable shoe sole, a small robot with camera is proposed in this paper.Mechanism is designed and kinematics model is derived.Then based on Matlab/Simulink, simulation platform is established and motion is simulated.Two-layer hierarchical control system is designed.USB camera is used to capture sole image and edge is detected using VC++ procedure.Edge track is translated to joint angle curve through kinematics model.Brushless DC motor is adopted to driven joint and controlled by DSP using incremental PID control algorithm.Tests are done on the self-develop robot prototype.Results show that intelligent glue-robot proposed can work for various sole and system is applied.关键词
智能机器人/建模/Simulink仿真/边缘检测/控制系统Key words
intelligent robot/ modeling/ Simulink simulation/ edge detecting/ control system分类
信息技术与安全科学引用本文复制引用
金英连,徐崟,郭振武,王斌锐..小型智能涂胶机器人建模与控制系统设计[J].计算机工程,2011,37(10):173-175,3.基金项目
浙江省自然科学基金资助项目(Y1090042) （Y1090042）
机器人学国家重点实验室开放基金资助项目(RL0200918) （RL0200918）
