5自由度串联机械臂实现颜色分拣功能

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。

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：

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 
 
#include 
 
#include 
 
ECT_IA02S device;
 
String serialString = "";
 
boolean serialComplete = false;
 
char stringBuf[100];
 
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();       
 
      }
 
}
 
 

颜色分拣-程序源代码资料内容详见 5自由度串联机械臂-颜色分拣