Design Of Visual Servo System On PUMA560Manipulator

Robot visual servo system is a system in which the robot is controlled via visualinformation obtained by the visual sensor. With massive information included in thevisual information obtained, the robot visual servo system will reach higher level ofautomation and intelligence. Therfore, it will be more adaptable and competence inmore complicate work, which will increase the application of robots.In this paper amanipulator PUMA560is researched and a visual servo system based on it wasdesigned in order to get target tracked by the end of the manipulator.At the begaining in this paper, the relationship between joints angle and theposition and pose of the end was researched using D-H method by establishing links’coordinates and their transformation matrix.At the same time the inverse kinematicsolution of the manipulation is done according to it’s geometric structure and get theexpressions of angle soluted when the position and pose of the end is given.On the othe hand, a image processing algorithm that recognize the target andextract it’s image feature was researched in the paper.The image processing programmerunning on ICETEK-DM6437-B is coded based on the algorithm in the Code ComposerStudio.According to the camera model and kinematic model of the manipulator,a visualcontroller that generate joints control signal through the image feature of the target isdesigned using fuzzy control method.Then, the feedback circuit outputing the angle and angular rate of joints is designedusing ADuC7026MCU.The mathmetical model of the joint is derived and theparameter of the model is measured.With all units confirmed, the joint control system isdesigned according to the classical control thoery.In the end, the MATLAB simulation of the system from which the reasonable ofthe design will be ensured is given in the paper.The debug of the system is alsorepresent in the paper, and the performamce of the system is analysised.