The Path Optimization Control Of Robotic Arm Based On The Visual Feedback

With the highly developing of science and technologies, and the progress of society, the application of robotics becomes more and more popular, robotic arms have been widely used in many automatic manufactures. As we all know, most of the robotic arms need to process the images and demand highly accurate movements, so it's so important to analyze the path optimization control of the robotic arms, which is based on the visual feedback.EduBot-250M robotic arm is used in the experiment platform of this thesis. Fist of all, the hardware devices of the whole robotic arm in kinetic control system are analyzed and established, the kinematical analysis are carried on, the kinematical model of this robotic arm is built, so based on all of them, the inverse kinematical solutions of robotic joins using D-H method have been solved. Next, the positional error model with the D-H parameters is built, and then the errors of D-H parameters are analyzed. Then visual feedback equipments are added to achieve the image processing and the transition of the images, and then calculate the 3D coordinates of the objects and get the real position of this robotic arm. So based on the information of the visual feedback, the errors have been compensated. At last, the theory of path planning is analyzed and many path planning methods are discussed in this paper to achieve the control of path optimization.