Research On The Manipulator Robot Servo System Based On Vision

The development of modern society makes the artificial intelligence graduallypopularized, the rise of intelligent robot is a product of the era of economicdevelopment. Public demand for service is more and more strict, it makes humanoidrobot extensive researched and manufactured. Service robot body is provided with amechanical arm, and it can be arbitrary operated. When within the scope of its touch,it will react accordingly according to the data obtained from the information timely.When unable to receive the surrounding environment information, the robot can’trespond. So there is an urgent need for a new type of service robots to help themcomplete the more and more complex tasks. To sum up, we need the stereo visionused in the service robot, the robot can know the surrounding situation through senseand make the corresponding operation in a timely manner. This will bring greatbenefits to the service robots in the future research and development.The purpose of this paper is to study Endpoint-Close-Loop system. Its principleis in the work space, set the camera and dispose the collected target image, and thenguide the robot to track target. The main contents of the research include:(1) Research on the basic knowledge of kinematics such as the relationship ofrobot joints connecting rod, degrees of freedom, and position description methods.And discuss how to use the D-H method to deduce the kinematics solution andinverse solution of the six degrees of freedom mechanical arm, and deduce the Jacobiwhich represents the relationship between joint speed and operating speed;(2) According to the result of the experiment，I get the target tracking methodby using the method of stereo vision. The experimental machine adopts space stereocamera, track the moving target, extract the motion data, calculate the space site of thetarget based on the parallax theory accurate, and then draw the object trackingmethod potential;(3) According to the sport of target tracking data extracted from space stereocameras,the control method of visual servo system is put forward. the main method isstudied Eye-to-hand system. Using Matlab modeling, the follow-up control method isproposed to control the entity;(4) In order to obtain the results of the simulation model, the prediction controlmethod is used, this method can make the robot arm track accurately and controlaccurately in the space of the operation. Experimental results show that this method can maximum limit outside interference, and affected by other factors is very small.At last the method is improved and applied.