研究了包装机器人(机械手)多属性识别问题，结合数据挖掘技术的ID3算法，建立了一种适合混流包装线机器人进行多属性产品自动分拣装箱的方法。讨论了构建机器人多属性分拣系统所面临的问题，以及ID3算法的实现。研究表明，该算法能较好实现机器人在混流包装线上的分拣功能。

Multi-attribute identification of packaging robot or manipulator was studied. A method of automatic multi-attribute product sorting by robot in mixed packaging line was proposed, which combined with ID3 algorithm in data mining technology. Problems faced when building multi-attribute sorting system and using ID3 algorithm were discussed. It was proved that ID3 algorithm can easily realize sorting function of packaging robot in mixed packaging line.