Research On Intelligent Manipulator Based On Visual Servo

With the continuous expansion of visual technology in the field of robotics,more and more industrial robots have begun to possess "eyes”.This means that industrial robots can perceive the information of the external environment to improve the degree of intelligence by using the visual system.The research object of this paper is the five degree of freedom educational steering engine manipulator.In this article,the parameters under the D-H model of the manipulator are given,and the forward kinematics and inverse kinematics of the manipulator are solved,and the motion control system of the manipulator is built on the basis of vision.The whole system is composed of vision system and robot system,including manipulator,manipulator controller,computer,camera,bracket,white background plate and software system.The vision system uses the camera to get the image containing the target object,and relies on the edge extraction algorithm,which is using the dual-window region excitation,proposed in this paper to get the gray level edge image of the target object.Subsequently,the visual system obtains a binary image of edge with a single pixel width by using threshold segmentation,morphological expansion,erosion and thinning.Then,the vision system uses 8 connected component labeling method and image moment technology to identify and distinguish the target,and get the coordinates of the object's center point.Through the association design of the robot system and the vision system,the vision system transforms the image coordinates of the features into the coordinates in the robot coordinate system.Next,the configuration space search method and the inverse kinematics solution of the manipulator are used to obtain the angle coordinates of the manipulator joint.After that,the vision system converts the data format of the joint angle coordinate according to the manipulator communication protocol,and then sends the converted data to the manipulator controller.After the robot system receives the data information,the manipulator moves to the specified position by accepting the instructions from the controller and realizes the whole visual servo process.