Joint Robot Visual Servo Control System

The combination of the visual sensor and the robot enables the robot assembly system to have the visual function, allows the robot to perceive the external world, enhances the use of robots and the reliability greatly, So that the robot in a particular environment to complete specific tasks in the application of better, and to help mankind solve some difficult problems, These are the key to intelligent robot systems technology, is also a robot engineering research development important direction, This article discusses the current visual servo robot technology research status and development trends, On the basis of further discussion of the robot visual servo control system of the main problems faced by and prospects for development, Combined public sector (agriculture) special research (nyhyzx07-005): "Fully Automatic Manipulator Machine transplanting bare root" project has built the joint robot visual servo control's hardware platform, and completed its corresponding functional control programming and the operation contact surface development, In this paper, the work done by the following five components:1 .From the servo system control structure, the camera is installed, the visual system of the three aspects of the hardware robot servo control system design of the overall structure, Completed the realization of the robot visual servo control system for the design of the hardware. The hardware design of Visual system includes the choice of cameras, frame grabbers, motion control cards and the robot joints.2.From the member coordinate system's establishment, hand posture's description and so on have carried on the kinematics analysis to the joint robot. Finally, the DH method applied to the coordinate system used by the system SCARA robot kinematics, the establishment of a system used by the various link joints of the robot coordinate system, obtained the parameters of each link, and finally carried out using MATLAB matrix operations , obtained by joint robot forward and inverse solutions of the equations of motion.3.The establishment of the imaging camera model, the discussion of the relationship about the image coordinate system, camera coordinate system, and the world coordinate system ,the determination of the main parameters that the camera demarcation needs to study, According to the existing laboratory conditions, using the modified two-step calibration method of Tsai, done a lot of tests to derive the visual servo control system using cameras inside and outside the parameters of the completion of the calibration of the camera. 4. In the aspect of the visual servo image processing from the image pre-processing, image separation, image template matching, the extracted objects, and so on. Finally, the servo control system to determine through the gray-scale transformation, Histogram method to enhance the image pre-processing. Experiments demonstrated that the canny edge detection operator effect, and then use Canny operator to achieve the image edge detection, Robot visual servo system proposed in the Canny edge detection method used to detect the edge of the image of the region, then template matching method used to achieve the identification of target.5. Completed a joint robot visual servo control system to control the design process, with Microsoft Visual C++ as a programming platform for the completion of the robot servo control system programming and interface development. Through the development of joint operation of the interface allowed to deliver the various joints of the robot joint information and the completion of image processing, template matching, crawling the target and the joint kinematics analysis of robot control functions.