Research On The Method Of Hand Positioning Of Manipulator On The Basis Of Binocular Stereo Vision

With the development of image processing technology and the enhanced ability of computer for processing digital signal, as a new field based on various interdisciplinary, the theory research and practical application of the computer vision has made great progress. This paper first introduces the design and debugging of manipulator, and focus on the problems and the corresponding solution methods during the debugging of manipulator installation, so educes the aim of this research is to realize automatic positioning of the manipulator's hand by using the binocular stereo vision technology applied to the control system of manipulator, which can increase the automation degree of the control system of manipulator.According to real-time and precision of the manipulator, this paper focuses on three components of binocular stereo vision: camera calibration, stereo matching and 3D information calculation, and forward kinematics of the manipulator.In camera calibration, an improved Zhang's calibration method is adopted. The lens' radial and tangential distortion is fully considered, which make the camera calibration results have higher precision and wider application scope.Because of requirement for highly efficient real time, in stereo matching, an improved Hough transform is adopted to extract circle centre of the artificial colouring tube hole, using the extracted circle centre as matching feature, and then using the feature matching which has small computational amount and rapid speed characters to calculate disparity, 3D information of the space feature point in the reference frame is calculated according to the disparity and triangulation principle.Because the 3D information of the space feature point in the world coordinate system is known, according to coordinate transformation and triangular vector principle, 3D information of the middle direction toe can be calculated from the 3D information of the space feature point in the reference frame. The forward kinematics formula is obtained on structure of the manipulator, and then using the forward kinematics formula to calculate 3D information of the manipulator's hand, which realize the manipulator's hand location.The paper used the MATLAB and VC++6.0 to compile the corresponding arithmetic and simulate the experiment. The results of experiment show that the methods used in this article are correct and feasible. This work provides a foundation for developing binocular stereo vision on the control system of manipulator.