| The paper presents a thorough study of the Hole-Axis Assembling Robot Guided by Visual System (HAARGVS), including its principle, composition, debug and control strategies etc. First, the visual imaging theories and robot control strategies come down to the study are discussed in detail. And then, the techniques of image capturing, image quality evaluating, image processing and image storing are described, so the postural relation between visual imaging coordinate and robot joint coordinate is ascertained. It is laid a strong emphasis on discussing the modeling of the paralleled 2-lens stereoscope system and the locating of the space points in visual coordinate with image matching.Meanwhile, a visual method of measuring the link parameters is also proposed firstly according to the behavior of a manipulator. It might be a potential tool for its simplification and accuracy on measuring an unknown robot. Finally, path planning, coordinate motion of dual arm robot, Hybrid force-position control strategy of 6-DOF manipulator by visual guiding are deeply researched in last two chapters.By analyzing and comparing plenty of image acquire devices which have been collected in the paper, an optimum image acquire set is proposed for HAARGVS. For the first time, color matching at simple character and curvature scale space (CSS) matching at complex character, which can accelerate the locating of a known shape in visual scene, are introduced in the theory of image matching.Based on above theories, an experimental platform of HAARGVS is established. It equips two 6-DOF manipulators which come from an YJP-I robot and can fulfill the hole-axis assembly tasks in no osculation condition. Further more, exhaustive and effective programs based on Visual C++ are also provided to perform the experiment of robot control system by visual guiding. The experiment results prove the feasibility and practicability of the platform.
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