Research On The Software System Of Transport Robot Manipulator Based On Machine Vision

In recent years, the robot technology has become an important direction of modern technology development, and has been widely applied in industrial production, medical equipment, military industry and so on. Currently, most industrial robots are still using the way of "Teach-reproduction", and control the robot to complete the work of point to point. With the technological development of computer science, sensors, artificial intelligence, the research of intelligent robot has become a hot topic. Then, machine vision is widely applied because of its advantages of comprehensive information, wide detection range, etc. So, more and more scholars begin to study the machine vision servo control.This paper uses MT-R four-DOF robot as the experimental platform, and researches manipulator control method based on visual information. The paper achieves function of identifying and locating the target object by machine vision, and then controls the robotic arm accurately crawl goal, to achieve handling work. The main contents include robotic control systems, machine vision systems and robot system software.Firstly, the paper analyzes the robot kinematics, establishes linkage coordinate by D-H rule, then deduces the forward and inverse solution of robot kinematics. Meanwhile, this paper selects 4-3-4 trajectory interpolation method based on the analysis result for the robot joint space trajectory planning methods. Then, this paper achieves kinematics and trajectory planning algorithm in software, and verifies the algorithm by experiment.Secondly, this thesis researches on machine vision technology, and chooses the background difference method based on the analysis result for some basic principles and methods of image processing. Then paper obtains the camera’s inside and outside parameters by the camera calibration and the actual environment. Using this parameters, it locates the three-dimensional coordinates of the target position. And then, this paper achieves the image processing algorithm in software, and verifies the algorithm by experiment.Finally, this paper designs and develops a complete visual robot control system software based on MT-R robot system, and encapsulates each functional module, designs friendly human-computer interface by MFC, improves the system’s real-time and operational efficiency by multi-threading technology. Ultimately, this paper makes experimental testing and error analysis to the entire visual handling robot control system.