Research Of Robotic Visual Servoing Based-on Opening Software Platform

Opening controller of robotic is a hot field in robotic research in recent years. The tradition control method of robotic based-on structure has been not adapted to control complex object, companying with the trend robotic technology develop toward intelligent , opening, flexible. Thus, It is high time that presented some new robotic architecture to meet application demand. With the help of CORBA specification developed by OMG, This paper present a software platform of robotic opening controller . In addition, research deeply in visual servoing base-on software platform.This paper review firstly the development of opening controller in domestic & overseas. What's more, The status of visual servoing in domestic & overseas have been introduced and the design principle & method of control system based on visual servoing also been given.The key issue of software platform of robotic opening controller focus on solving interface partition and communication among software modular. Based-on CORBA specification, This paper apply the idea of software engineering and employ UML construct modular method to design and test the software platform of robotic.Robot vision system must constitute the relation between the spatial point and the plane point, so the camera calibration is the absolutely necessary step. Two simple means has been given grounded on camera interior and exterior parameter model. And we use the orthonormal peculiarity of the rotation matrix of camera imaging model to get the equations with interior external parameters. Experiment proved that the means can linearize the camera model and be the foundation to account out the position of target.After precision camera calibration, To satisfy the demand of manipulator orientation and object tracking, The paper introduce some image process algorithms , which main aim is to complete orientation and tracing of robotics . Furthermore, The control architecture of vision servo based-position has been given and testify availability & utility according to manipulator orientation tracking test. The emulation test prove the designed controller advantages such as robust and flexible and so on .