Research And Realization Of The Primary Mirror Manipulator Control System Of Large Segmented-mirror Telescope Based On Machine Vision

Manipulator system is the earliest industrial robot, it can not only replace human labor inorder to realize the mechanization and automation of production, but also operate in hazardousenvironments in order to protect the human’s safety. Machine vision mostly uses computer tosimulate human visual function, to extract process and analyze information from the image, whichwill be used in practical detection, measure and control finally.The purpose of this research is to design a set of manipulator control system of highreliability and high precision with the machine vision technology. This will help the staff to loadand unload MB mirrors of LAMOST telescope safely. The system involves many technologies,such as machine vision technology, image processing technology, industrial control technology,hydraulic driving technology, motor driving technology and wireless communication technology.This paper makes a deep research on the related technologies and completes the design,installation and debugging of the manipulator control system.Manipulator control system is composed of four parts--the machine vision system, hostcomputer, slave computer and manipulator. Machine vision system is responsible for imageacquisition,, including cameras, lens, lights and industrial control computer; the host computerhas an interactive interface, responsible for image processing, slave computers control, feedbackmessages processing; slave computers communicates with the host computer by wireless modules,responsible for sensor states feedback, the manipulator motion control.; the manipulator iscontrolled by slave computers, responsible for loading and unloading MB mirrors through itsmotions in different directions.This paper divides the system into the manipulator control system and machine vision systemto design each part separately. In the part of manipulator control system, the author completes thedesign of manipulator control, the design of motion control board, selection of control components,design of control chip program, the software design and data protocol design; in the part ofmachine vision system, the author completes the machine vision components selection, imageprocessing program design and the machine vision positioning program design,, matching withmanipulator control system. In the end, this paper introduces the debugging work of the wholesystem. The whole system reaches the expected goal at last.