Color recognition and dynamic decision-making model of 6 axis of industrial robot based on embedded system

摘要

For the problem that industrial robot have a poor ability to perceive external environment, and not able to change the way of operation and path of transformation timely as working condition changes. This paper selects color sensor as the medium of recognition, introduces the embedded system Raspberry Pi to 6 axis industrial robot grabbing assignments, and puts forward a six axis industrial robot intelligent recognition model with color perception, dynamic decision-making and other multi-function. In the model, the color sensor signal will be resolved by color processing algorithm in embedded system, and consequently color information of material on the conveyor can be obtained. The color information after processing by the embedded system will be converted to digital signals. Then input the digital signal into robot controller. Finally, robot controller chooses corresponding motion path according to the input signal. The experimental results show that the six axis industrial robot intelligent recognition system can distinguish colors of material with almost 100% accuracy, and adjust operation way and path in 0.72 s time rapidly. Efficiency could be improved by more than 75%.