1.辽宁石油化工大学信息与控制工程学院 抚顺 113001;2.天津南开中学理科实验班 天津 300100
TN081
1.Liaoningh Shihua University, Fushun 113001, China;2.Tianjin Nankai High School, Tianjin 300100, China
为提高当今社会工业自动化水平，设计了基于STM32F407的分拣搬运机器人，通过TCS3200颜色识别传感器来识别5种颜色,实现分拣功能。通过舵机控制的机械爪来搬运货物，实现货物搬运功能。根据光电检测法寻迹来识别路径，保证能准确将货物送到目的地。以编码器的输出作为反馈量，加入经典PID算法来提高机器人稳定性。采用nRF24L01无线通信模块来实现和上位机的实时通信，从而实时获得机器人的运行状态。经实验验证，控制系统可以稳定运行，机器人能按预定轨迹搬运货物。
To improve the level of industrial automation in today’s society, a sorting handing robot was designed based on STM32F407.To identify the five colors, TCS3200 color recognition sensor was used. Cargo handing functions was achieved through servocontrolled mechanical claw. In order to carry cargos to exact destination, photo electric detection tracing method was used to identify the path. This paper using the output of encoder as feedback, and classic PID algorithms to improve the stability of the robot speed. nRF24L01 wireless communication black was used to achieve the realtime connecting to PC and the realtime operation state of the robot was obtained. The experiments prove that the control system can be stable operation, robot handling of goods according to a predetermined trajectory.
吕书信,张北伟,王泽澄.基于STM32分拣搬运机器人控制系统的设计[J].国外电子测量技术,2016,35(9):101-104
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