The Research on the Motion Control of the Sorting Manipulator based on Machine Vision

摘要

With the development of production technology, manipulators are gradually introduced in advanced production manufacturing industries to complete some tasks such as picking and sorting. However, the traditional manipulator has a complicated sorting process and low production efficiency. In order to improve the accuracy of sorting and reduce the labor intensity of workers, this paper studied the motion control of the sorting manipulator with machine vision. After placing four kinds of objects of different shapes on the conveyor belt, experiments were conducted on the catching and sorting process of the manipulator under different experimental environments, different conveyor belt speeds, and with or without machine vision. It was found that the overall success rate of the sorting robotic arm using machine vision for catching objects of different shapes was as high as 96%, and the sorting accuracy was as high as 97.91%. Therefore, it is concluded that the manipulator can achieve high accuracy in catching and sorting objects with the guidance of machine vision, and the adoption of machine vision has a positive impact on the motion control of the sorting manipulator.