Design Of PUMA560 Manipulator Control System Based On Vision

Robotics becomes a cross-disciplinary researching field after its long development. With the development of technology and science, robots have been applied to a wider domain. In order to meet the needs for technology of manipulating robots in different environments, various sensors such as touch, strength and vision are used in robot control systems to improve robots'intelligence and adaptability. Vision servo is one of the most popular researching fields in robot control systems.Based on the researches on the vision servo system of PUMA560 manipulator, this paper aims at designing an open, general and expansible control system.This paper is consisted of reconstructing the original control system, designing a vision subsystem, contriving a joint servo system and projecting a vision controller. The reconstruction of the original control system is mainly to isolate its control signals and its protection signals, and to extract and adjust its feedback signals, making preparations for a new control system. The design of a vision subsystem, which is based on collecting and processing images, consists of collection of target images, noise processing, and binarization, edge detection and extraction of feature points. The design of vision system is based on the process of semi-physical simulation of MATLAB/RTW. Its control structure applies two-closed-loop structure that includes a position controller and a velocity controller, which is the outside loop and the inside loop respectively, while PID control method is applied in this system. Meanwhile, PCI-1711 data acquisition card is utilized to transform information between the controller of MATLAB/RTW and the manipulator. The main tasks of the design of joint servo system are comprised of designs of power amplification drive circuits and designs of two-closed-loop structures. The vision controller is implemented by BP networks. The feature points of the object which are calculated by vision controller are considered as input, and the position control signals are output through the processing of the vision controller .The joint servo system moves the manipulator to the object on the basis of the position control signals.The designs of the vision servo system of PUMA560, joint control system and vision controller have been achieved. Some achievements have also been made in debugging the whole vision system, but the control accuracy still needs improving.