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：
| 主控板 | Basra主控板（兼容Arduino Uno） |
| 扩展板 | Bigfish2.1扩展板 |
| 传感器 | TCS3200颜色识别传感器 |
| 电池 | 7.4V锂电池 |
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 athttps://opensource.org/licenses/MITby 机器谱 2023-08-24 https://www.robotway.com/------------------------------*/#include <MsTimer2.h>#include <Wire.h>#include <ECT_IA02S.h>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 onefor(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
