5自由度串联机械臂实现颜色分拣
本帖最后由 机器谱 于 2023-9-11 15:36 编辑1. 功能描述
本文提供的示例所实现的功能为：实现5自由度串联机械臂按颜色分拣的功能。将红、蓝两种颜色的工件分别放置在传感器上时，机械臂会根据检测到的颜色，将红色工件搬运至右侧区域；将蓝色工件搬运至左侧区域。
https://28846868.s21i.faiusr.com/3/ABUIABADGAAg__y-pwYosMv-wAQwwAM4-AE.gif.webp
2. 电子硬件
在这个示例中，我们采用了以下硬件，请大家参考：
主控板Basra主控板（兼容Arduino Uno）
扩展板Bigfish2.1扩展板
传感器TCS3200颜色识别传感器
电池7.4V锂电池
在5自由度串联机械臂底座上安装一个 TCS3200颜色识别传感器 ，用于检测工件的RGB值。
3. 功能实现
编程环境：Arduino 1.8.19
下面提供一个实现5自由度串联机械臂按颜色分拣的参考程序（colour.ino）：
/*------------------------------------------------------------------------------------
版权说明：Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.
Distributed under MIT license.See file LICENSE for detail or copy at
https://opensource.org/licenses/MIT
by 机器谱 2023-08-24 https://www.robotway.com/
------------------------------*/
#include <MsTimer2.h>
#include <Wire.h>
#include <ECT_IA02S.h>
ECT_IA02S device;
String serialString = "";
boolean serialComplete = false;
char stringBuf;
void setup()
{
Serial.begin(9600);
Colour_set();
serialString = "1@0:act.write(75);@";
StringDeal();
serialString = "1@1:act.write(90);@";
StringDeal();
delay(1000);
serialString = "2@0:act.write(100);@";
StringDeal();
serialString = "2@1:act.write(90);@";
StringDeal();
delay(1000);
serialString = "3@0:act.write(45);@";
StringDeal();
serialString = "3@1:act.write(90);@";
StringDeal();
}
void loop()
{
int c = Get_colour();
Serial.println(c);
if(c<2)
device.startShoal(0, c, 7000);
delay(2000);
}
void StringDeal()
{
String outString;
static int stringlength;
serialString = serialString.substring(0,serialString.length()-1);
serialString+="*";
serialString+=serialString.length()-1;
serialString+="\n";
stringlength=serialString.length();
//split the string to certain part, each part as 30 char, send parts one by one
for(int i=0;i<((stringlength/30)+1);i++){
outString = serialString.substring(0,min(serialString.length(),30));
outString.toCharArray(stringBuf, outString.length()+1);
serialString=serialString.substring(min(serialString.length(),30),serialString.length()+1);
Wire.beginTransmission(1);
Wire.write(stringBuf);
Wire.endTransmission();
}
}
4. 资料下载
资料内容：颜色分拣-程序源代码
资料下载地址：5自由度串联机械臂-颜色分拣 https://www.robotway.com/h-col-192.html
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