Researching On Semi-physical Simulation For Robot Visual Servo

With the expansion of the use of industry robot, the workspace is becoming more complicated, robot visual servo technology has become a research focus. It is very important to find a simple and effective way to implement the simulation of robot visual servo. In this article we designed a semi-physical simulation system for robot visual servo. The main work in this paper is summarized as follows:1.The theory of kinematics and description of coordinate were researched. Analyzed the advantages and disadvantages of the description and derived the transformation method. Explained the forward and inversed kinematics of robot PUMA560 and gave the algorithm.2.Designed the semi-physical simulation system and built a virtual simulation platform including three-dimensional space, robot graphic, robot driver, kinematics algorithm and trajectory planning, all of which were verified by experiment.3.Developed the software of video acquisition part under the virtual simulation platform by using DirectShow, which solved the problem in simulation interface and image display. The software supported various video equipments and enhanced the expansibility of the system.4.Designed a Kalman predictor to forecast the target position and setup a track window around the position which converted the global image processing to local processing. Experiment showed the real time performance and anti-jamming performance were improved significantly.