Based On The Optical Visual Servo Control System Software Of Mechanical Arm

As one of the greatest inventions of the twentieth century, Robot plays an increasingly important role in the electronic information industry. It is actively researched and widely used in various areas. The application level is also an important symbol of a national industrial automation development level.As a branch of the robot development, visual servo optoelectronic manipulator has become a hotspot nowadays. It is a complicated domain that is concerned with computer vision, kinematics, control theory, artificial intelligence, sensor technology, image processing. This industry started relatively late in China and rarely involving software system. Therefore, the research of visual servo optoelectronic manipulator has great significance both in engineering and theory.The key point of the dissertation is the design and realization of the software, motion control and visual image processing in the visual servo optical manipulator system. On the basis of the establishment of hardware and software platforms as well as algorithm optimization. Reliable communication protocols are designed for distributed control, and combined with optical image processing to achieve closed loop control. Finally the software system of the optical-based visual servo optoelectronic manipulator is finished.In the research of kinematics, SCARA Robot (Selectively Compliance Articulated Robot Arm) is chosen in this system as object of study. The kinetic equation and the kinetic solutions of the manipulator are deduced by using the Denvavit-Hartenberg method. The trajectory planning arthmetic of the manipulator both in joint space and Cartesian space is analyzed and verified.In the visual servo system, the dissertation focused on visual servo control and image processing. The images which are taken by the CCD camera were processed through graying, filtering, binarization, edge detection in turn by the image processing modular, and the feature information such as centroid, axial and radius was gained through Hough transform. Moreover, it is transformed to feature information in joint space by the visual control modular. In the design of software system, a multi-function and portable optoelectronic visual servo manipulator software system based on Qt application has been developed by C++which takes modular-design as the guideline. And each modular can be coded and tested independently.In this dissertation, the Straight-line trajectory planning algorithm based on Cubic interpolation is proposed through the combination of the traditional trajectory planning arithmetic. Moreover, filtering and edge detection image processing algorithms have been analyzed as well as compared and the best one has been chosen in this system. The research achievements in this dissertation have been tested and applied in the optoelectronic visual servo manipulator system, and the result of the overall debugging showed that the system has basically met the need of practical application.