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基于Matlab的砝码自动装卸机械手图像定位方法的设计与研究.docx

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基于Matlab的砝码自动装卸机械手图像定位方法的设计与研究 Abstract ThispaperdescribesthedesignandresearchofanimagepositioningmethodforaweightautomaticloadingandunloadingroboticarmbasedonMatlab.Thesystemisdesignedtoenableaccurateandefficientloadingandunloadingofweightsinaproductionenvironment.Thismethodemploysimageprocessingtechniquestolocatetheweightsandprovideareal-timefeedbacktotheroboticarm,whichinturnperformstheloadingandunloadingprocedures.Theproposedmethodisvalidatedthroughexperimentalresults,whichshowthatthesystemiseffectiveandefficientinaccuratelypositioningtheweightswithminimalerrors. Introduction Inrecentyears,weightautomaticloadingandunloadingmachineshavebecomeincreasinglypopularinindustrialproductionenvironments.Thesemachinesareusedtoautomatetheloadingandunloadingofweightsinaproductionline,whichimprovesefficiencyandaccuracywhilereducingmanuallaborcosts.Onecriticalaspectofthesemachinesistheprecisionoftheloadingandunloadingprocess,whichismainlydependentonthepositioningaccuracyoftheroboticarm.Itis,therefore,essentialtodesignanaccurateandefficientimagepositioningsystemthatcanbeusedtoguidetheroboticarminthisprocess. Inthispaper,weproposeanimagepositioningmethodforaweightautomaticloadingandunloadingroboticarmbasedonMatlab.Thesystememployscomputervisiontechniquestolocateeachweightpositiononaconveyorbeltandsendsreal-timefeedbacktotheroboticarm,whichthenpicksuptheweight.Theproposedsystemprovidesalow-costsolutiontoweightpositioning,whichisacriticalfactorintheautomationofindustrialprocesses. Methodology Theproposedimagepositioningsystemconsistsoftwoprimarycomponents,namelytheimageacquisitionunitandtheimageprocessingunit.Theimageacquisitionunitcomprisesacamerathatcapturesimagesoftheweightsonaconveyorbelt,whiletheimageprocessingunitusesMatlabtoprocesstheseimagesandlocatetheweightsaccurately.Thecameraisinstalledabovetheconveyorbeltinafixedposition,andtheimagesarecapturedinreal-timeastheweightsmovealongtheconveyorbelt. Aftercapturingtheimagesoftheweightontheconveyorbelt,theimageswerepreprocessed