Design And Research On Manipulator Visual Servo System Based On Kinect

In the dangerous disaster environment,the manipulator system can complete tasks of removal,excavation,and disassembly,etc.,and it can replace or assists people in procedure of dangerous operation,therefore researches on manipulator system have become one of the focuses in the robotic field.The manipulator visual servo system can not only collect the environment information through visual sensors,but also deal with dangerous objects.Therefore,the application of manipulator visual servo system is important in military industry and society,so it is necessary to design and research this type system.The main research works are as follows:First of all,this thesis analyzes the research situation of China and foreign countries about manipulator system,determines the basic design parameters and the overall design process of manipulator.Then,Pro/Engineer is used to finish the design of 3D virtual prototype,and ANASYS is used to finish the strength check to the important parts of the manipulator.Monte Carlo method is employed to calculate the working space of the manipulator,which makes a foundation for the subsequent work.Secondly,this thesis analyzes and simulates the forward kinematics and inverse kinematics of the manipulator model.ADAMS is utilized to analyze the dynamics of the manipulator,and the force and torque curves of each joint during the movement of the manipulator are obtained,and the feasibility of the motor selection is verified.Thirdly,the design of visual system is carried out,including:Kinect selection as the visual sensor,analyzing the imaging model of Kinect,calibrating the RGB and depth camera by Zhang zhengyou calibration method,and estimating the parameters,which bridges 2D images and 3D real world.The object is distinguished and the coordinates is obtained by using template matching algorithm based on RGB images.The background subtraction algorithm is conducted based on depth images.The features of the mine environment are analyzed,and improvement method for image processing is proposed.Finally,object recognition and manipulator grasping experiments are carried out on autonomous mobile robot,which verify the effectiveness of target recognition algorithm and feasibility of manipulator visual servo system based on Kinect.In addition,in the open source Robot Operating System(ROS),modeling and simulation of robotic arm are realized,which lays the foundation for the realization of visual servo system based on ROS.