Research On Visual Servo Control Method Of Manipulator

Through the introduction of visual servo control in the manipulator system, the use of visual information to control the movement of the robot arm can effectively improve the flexibility and accuracy of the manipulator. In this paper, a position based visual servo control system is constructed by using the six degree of freedom manipulator arm to capture the circular object in motion.First of all, this paper on the six degree of freedom manipulator were kinematics analysis, using D-H parameters deriving the corresponding kinematics equations, and on the basis of the kinematic equations to obtain the closed-form solution of inverse kinematics equations. After the completion of the manipulator forward and inverse solution of kinematics equation, in this paper, we use the proportion control method showed that position based visual servo system is kinematic parameter error free, can effectively improve the positioning accuracy of the mechanical arm.Secondly, the camera imaging model is introduced, based on Zhang Zheng you calibration method used by the system within the camera parameter calibration. After completion within the parameters of the camera calibration eye in the hands of handeye system calibration method were analyzed by controlling the robotic arm end effector is in a different position and orientation in space fixed calibration board observations, obtained a camera coordinate system under arm end effector coordinate system posture, arm to complete the hand-eye calibration.Then, in order to obtain an elliptical circular projection formed from the target image, the paper analyzes the content of digital image processing, image smoothing method, the gradient calculation performed experiments, the method of least squares fitting target imaging oval.In a circular target obtained after the image plane elliptic equations, the article describes the elliptic equations obtained from a circular target pose at the camera coordinate system approach. On this basis, the proposed solutions based on a single round of secondary imaging pose solving ambiguity problem, and following the experimental verification.Finally, the manipulator trajectory planning problems were analyzed, given servo control process visual servo control system is constructed based on manipulator visual servo control system location, and built the system verified by experiments. Experimental results show that the introduction of visual servo control manipulator system was originally open-loop control system has higher accuracy compared.