The Study of Mechanical Arm and Intelligent Robot

• Published in: IEEE access Vol. 8; pp. 119624 - 119634
• Main Author: Lee, Hai-Wu
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 2020; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Algorithms; Automation; Canny edge detection; Coordinates; Dimensional stability; distance measurement; Edge detection; Engines; Grasping (robotics); improved PID algorithm; Manipulators; Mechanical arm; Mechanical arms; Mobile robots; Object recognition; Robot kinematics; Robots; Steering; Three dimensional analysis; Three dimensional models
• ISSN: 2169-3536; 2169-3536
• DOI: 10.1109/ACCESS.2020.3003807

As an important part of the automation industrial system, mechanical arm robot plays an important role in service, exploration, automation engineering and other fields, and has a broad application prospect. The traditional mechanical arm and Sobel edge detection methods have some shortcomings: 1. The PID method is separated from the ontology model and only carries out simple and multiple calculations according to the code of the steering engine, which is not stable enough and will cause more time consumption; 2. In some complex environments, while Sobel edge detection is detecting the shape of objects, the separation between subject and background is not clear, which makes it impossible to obtain accurate object information. Therefore, this paper proposes a new PID method and Canny edge detection algorithm: 1. PID method combined with three-dimensional coordinate system modeling, to achieve a more stable, faster and more robust calculation formula, to complete the mechanical arm grasping function; 2. Using Canny edge detection and three-dimensional coordinate system to analyze the object image to obtain the accurate information of the target object.