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本文介绍一种食品包装生产线的机器人控制系统。基于视觉系统获得生产线上被包装物体的位置与几何信息，利用惯量分析原理确定抓取点，采用矢量控制与学习控制方法调节机器人抓取器对物体实施稳定抓取。仿真及实验结果证明了控制策略的有效性。
This article describes a food packaging line robot control system. Based on the visual system, the position and geometry information of the packed objects in the production line were obtained. The grasping points were determined by using the principle of inertia analysis. The vector grasping control was used to adjust the grasping robot. Simulation and experimental results show that the control strategy is effective.