Research On Visual Servo System Of RM-501 Robot Arm

Robot technology is getting mature gradually and has been more and more extensive in the application of industrial production and scientific research.And the technology of intelligent robot has become a new direction.We can install many sensors on the robot,so they can fully perceive the information of the surrounding environment and adjust their trajectory according to the surrounding.This paper is focus on the visual servo of the manipulator.The video camera is fixed and I design the video image processing and moving target detection algorithm.The center position of the target is extracted as the image feature,and the image is the basis of the visual servo.Then the moving end of the arm can keep tracking of the target.In order to realize the tracking of moving target of manipulator end effector,I use the geometric method to analyze the manipulator's positive and negative kinematics.To transform the motion of the target object into variables that can be processed by the visual servoing system,The algorithm of visual inspection is designed in this paper.Video image processing contains the gray scale of the image,the edge detection and the calculation of the center position.After completing the design of the algorithm,I set up the software development environment of the DM6446 DaVinci technology platform and the application program is designed to realize the visual processing algorithm.In order to change the image features of moving objects into joint motion information,this paper uses visual servoing method based on image,image Jacobian matrix is used to describe the mechanical arm hand eye relation model.The key of image visual servo is how to realize the online estimation of image Jacobian matrix.Kalman filter algorithm is used to evaluate the image Jacobian matrix,and I simulate it in MATLAB.In order to drive RM-501 mechanical arm joint motor,this paper designs a control system of mechanical arm joints and debugs the system,the design of the joint control system needs joint motor modeling,then I design the double closed loop RM-501 controller of each arm joint,The inner ring is a speed loop,and the outer ring is a position ring...