为使涂胶机器人可涂任意鞋底轨迹,提出带摄像头的智能涂胶机器人.设计机构模型,利用齐次变换矩阵建立运动学模型,并进行Simulink运动仿真.控制器采用2层递阶的DSP加PC机结构,USB摄像头捕获鞋底图像,VC++实现边缘提取,并通过坐标变换得到机器人关节轨迹.DSP直流无刷电机控制器采用增量PID闭环控制算法.在自主开发的样机上开展实验研究,结果表明该小型智能涂胶机器人可完成任意鞋底的徐胶任务,系统易于实现.%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.
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