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基于嵌入式系统的解魔方机器人设计
资料介绍
设计了一种可以将任意打乱的三阶魔方复原的魔方机器人,该机器人由控制器、4个USB相机和两个机械手组成。其中控制器使用了ARM架构的RK3288开发板,其功能是控制相机对魔方的初始状态进行拍摄,根据拍摄的图片对魔方进行色块识别和求解,然后根据求解的指令驱动机械手动作,复原魔方。机械手有旋转和夹紧两个动作,分别用步进电机和气爪实现。在软件设计上,通过优化Kociemba魔方求解算法和优化从Kociemba算法得到的复原指令,使电机动作时间达到理论上的最短。实验测试结果表明:本文设计的魔方机器人可以在10s以内复原绝大部分三阶魔方,基本达到了预期的目标。
In the paper,a robot that can solve rubik’s cube is designed.The robot consists of a controller,four USB cameras and two manipulators.The controller uses the RK3288 development board based on ARM architecture.Its function is to control the camera to take pictures of the initial state of the magic cube,then recognition and solution of rubik cube color block based on photographs,next the manipulator is driven according to the solving instructions,recovery cube at the end.The manipulator has two actions of rotation and clamping,which are realized by stepping motor and air claw respectively.In the software design,by optimizing Kociemba cube solving algorithm and restoring instructions from Kociemba algorithm,the operation time of motor reaches the theoretical minimum.The experiment results show that the magic cube robot designed in this paper can recover most of the third-order magic cubes in less than 10 seconds,and basically achieves the desired goal.
部分文件列表
| 文件名 | 大小 |
| 基于嵌入式系统的解魔方机器人设计.pdf | 1M |
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