The Study Of Key Technology Of Visual Servo System Of Table Tennis Robot

Table tennis robot, which covers a series of key robotics technologies, such as robotics intelligent control, sensor detection and high-speed visual servo technology, is a real-time and intelligent system. And the table tennis robot obtains the information of the ball and sends the processed information to the robot controller so that the robot can hit the ball successfully. Table tennis robot of visual servo is suitable for the study of visual perception and high-speed motion control, and the researches have high scientific research value and application prospects. In the paper, we study the key technologies of visual servo system of table tennis robot with a binocular stereo vision system, and this paper mainly includes the following respects:1、It is depth analyzed that the status of the development of the table tennis robot visual servo system and the structure of the visual servo system at home and abroad and the structure of the visual system, which is used in the item, is determined by analyzing the specific environmental conditions of the laboratory.2、Extract the coordinates of the geometric center of the Ping-Pong ball to locate the ball in the pixel coordinate system from the real-time image with the method of image segmentation and gray geometric based on the image processing software named Halcon. And multi-threading technology is used to acquire and process the image, which meets the requirement of real-time systems.3、The inner and outer camera parameters are identified and the hand-eye system is calibrated. Then, the coordinate of the geometric center of the Ping-Pong ball in the robot base coordinate system can be obtained. After planning the trajectory of the manipulator based on the position of the ball, the robot is succeed in hitting the Ping-Pong ball.4、Based on VC++6.0、Halcon and motocom32dynamic link library of Yaskawa, the visual servo control system of the Ping-Pong robot was developed. The experiment of hitting ball proves the effectiveness of the developed visual servo control system.