目的 为了提高码垛机器人运行精度，改善控制系统的通用性，以确保包装物品的生产效率。方法 在分析包装码垛机器人基本结构和工作流程的基础上，基于ARM设计一种码垛机器人控制系统，同时提出一种Hough-链码视觉识别算法，用于提高码垛精度、满足视觉功能需求。通过原点定位实验和重复定位实验验证所述控制系统的有效性。结果 实验结果表明，包装码垛机器人定位精度较高，其中原点定位误差小于0.20 mm，重复定位误差小于0.8 mm，完全满足设计要求。结论 该控制系统能够满足实际作业需求，对于提升包装效率、降低成本具有一定意义。

The work aims to improve the palletizing robot operation accuracy and control system generality, so as to ensure the productivity of packaged items. On the basis of analyzing the basic structure and working procedure of the packaging palletizing robot, a palletizing robot control system was designed based on ARM. A Hough-chain code visual identification algorithm was proposed. It could be used to improve the stacking accuracy and meet the demand of visual function. The effectiveness of the described control system was validated by the origin location and repeated positioning experiments. The experimental results showed that the packaging palletizing robot positioning accuracy was high. The positioning error of the origin was less than 0.20 mm, and the repeated positioning error was less than 0.8mm. Therefore, it could fully meet the design requirements. The control system can meet the demand of practical operation, which is of great significance to improve the packaging efficiency and reduce the cost.