The Control System Design Based On Labview Machine Vision To Guide The Manipulator Grabbing

With the development of robot technology,it has brought great influence on industrial production,ocean exploration and people's life.In order to enable the robot to have more functions,such as monitoring and measuring the external environment,the vision system is introduced into the robot,which brings advantages to the robot in positioning and tracking,obtaining more information and improving the scope of use.Through the above advantages,it can be seen that the introduction of machine vision technology into industrial production will certainly improve the intelligence level of traditional manufacturing industry,which is of great research significance.Firstly,the composition of machine vision system is analyzed,and the working principle of industrial camera is studied in detail,mainly including solid-state imaging device CCD and CMOS image sensor.For the common parts of vision system,such as lens and light source,the scope of use is also studied.In order to solve the problem of object positioning and grasping in industrial production,this design is based on the vision module of Labview,and develops a vision control system of manipulator.The system uses the template matching technology based on gray level and the particle analysis technology based on binary analysis to locate the target object.For the manipulator system,the kinematic analysis model of the manipulator is established,and the kinematic law of the manipulator is analyzed by using the simulation software.Then,hand-eye calibration is used to complete the position and posture conversion between the manipulator and camera coordinates,and serial communication is used to complete the communication between the upper computer and the manipulator.A set of manipulator system guided by machine vision is designed.Finally,the whole control system is tested by grabbing the chip and plastic cap on PCB.This design has certain industrial application value.