研究目的
Investigating the use of a 4-DOF robot arm with a two-dimensional vision sensing method to grip moving targets on a moving platform for manpower cost reduction in industry or agriculture.
研究成果
The study successfully demonstrates that a 4-DOF robot arm can grip moving targets on a moving platform using a two-dimensional vision sensing method and dynamic proportional-fuzzy control. This approach reduces the weight and cost of the robot arm by using only one CCD, breaking through the previous two-dimensional limitation.
研究不足
The study is limited by the use of a single CCD for vision sensing, which may affect the accuracy and speed of target gripping. The vibrations caused by servomotors also impact position measurements.
1：Experimental Design and Method Selection:
The study utilizes forward and inverse kinematics to establish a dynamic model of the 4-DOF robot arm. A computer as a controller and a single CCD calculates the two-dimensional vision sensing method and sends commands to an Arduino Uno microcontroller to drive the robot arm.
2：Sample Selection and Data Sources:
A ping pong ball is used as a target on a moving platform to demonstrate precise control of the point-contact grip.
3：List of Experimental Equipment and Materials:
The equipment includes a 4-DOF robot arm, a single CCD (Pixy CMUcam5 sensor), an Arduino Uno microcontroller, servo motors, a 28BYJ-48 stepper motor, and a Vl53l0x laser distance sensor.
4：Experimental Procedures and Operational Workflow:
The robot arm is controlled to position, grip, and carry a moving ping pong ball to a designated place in three-dimensional space using the two-dimensional vision sensing method and dynamic proportional-fuzzy control.
5：Data Analysis Methods:
The response of the dynamic proportional-fuzzy controller is compared with the PID controller using MATLAB SimMechanics software.
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