Study On Visual Guidance Technique Of Robot For Intelligent Grasp

Robot has the features of high-speed, flexibility and accuracy, have plays an important role inthe industrial production and everyday life. But currently, the mainstream applications still rely onmechanical repeat route has been planned to work, and robot can not obtain external informationindependently. So, in this situation of an unknown environment or the workpiece can not beinformed by the exact model, which result in that autonomous control is facing huge challenges inthe unknown environment, and can not complete the related task. In recent years, with thedevelopment of machine vision technology, more and more robot using visual information as apilot of manipulator body control technology, vision control of manipulator provides the basis tosolvetheself-captureproblemsofrobot inunknown environment.The main purpose of this paper is to introduce visually guided technology based on machinevision and image processing into the robot body system, combine the visual guidance with relatedtechnical based on kinematics of mechanical arm control, construct a set of robot system withvisual information, make teaching robot has formation obtaining function to the surroundingenvironment, especially the object, and according the information to set the control system andgrabthetarget.Fullwork issummarized as follows:Realized functional and objective analysis of intelligent grasping system of the robot, andestablished the general scheme of the system based on it. Meanwhile, according to the function andpurpose of the system to achieve, completed selection work of hardware system, determined theactual application model of the various components, achieved the model construction of themanipulator by using mathematical method, and the analysis of kinematics control principle ofmanipulator, discussed the target detection and tracking algorithms which related to the targetlocation technology in this system, described the application and related technology of binocularstereo vision in the robot and visual system, completed of the design of the process and the overallstructure of the system software, and the following coding work, lastly, realized target graspfunction by using combination of each module which make the vision system as the pilot to controltherobotandmanipulator.