【摘要】 针对机器人的控制问题,文章研究了SCARA真空机械手的运动学解算和视觉抓取。首先,对SCARA真空机械手的机构进行了分析;其次,通过MDH法对机械臂构建了关节坐标系并进行了运动学建模,通过弦位法进行逆解的计算;再次,提出了一种基于视觉的机械手抓取算法;最后,通过MATLAB仿真软件对于SCARA机械手的运动学正逆解算法进行了验证,并通过实验验证了视觉抓取算法的效果。从实验结果可得出,机械手的运动学算法准确,视觉算法提升了识别速度,该问题具有一定的实用价值。更多还原

【Abstract】 In order to solve the problem of robot control,this paper studies the kinematics and vision grasping of SCARA vacuum manipulator. Firstly,the mechanism of the SCARA vacuum manipulator is analyzed.Secondly,the joint coordinate system of the manipulator is constructed by MDH method,and the kinematics model is established. The inverse solution of the SCARA vacuum manipulator is calculated by the chord method. Thirdly,Finally,the forward and backward kinematics algorithms of SCARA manipulator are validated by MATLAB simulation software,and the results of the experiment are validated by experiments.From the experimental results,it can be concluded that the kinematics algorithm of the manipulator is accurate,and the visual algorithm improves the recognition speed. This problem has certain practical value.更多还原