Design Of Robot Arm Intelligent Control System Based On Visual Servo

In industrial production,manipulator is widely used because of its flexibility,high efficiency,and can replace human repetitive labor.With the increasing complexity of industrial production process,it also puts forward higher requirements for the working efficiency and intelligent degree of the manipulator.In this paper,the work efficiency and autonomous recognition of the manipulator are studied.Through the establishment of the kinematics model of the manipulator,the trajectory optimization method of the manipulator is designed,and the visual servo control system is established.The main contents of this paper are as follows:(1)According to the definition of the link coordinate system,the link coordinate system is established on the manipulator,and the DH parameters of the manipulator are analyzed.On this basis,the forward and inverse kinematics analysis of the manipulator is carried out,and the kinematics model is established in MATLAB to verify the correctness of the forward and inverse kinematics analysis,and the reachable workspace of the manipulator is obtained by Monte Carlo method.(2)In the joint space of the manipulator,the quintic polynomial interpolation method is used for trajectory planning.On the basis of quintic polynomial interpolation,considering the motion constraints of the manipulator joint,and taking the sum of the motion time of each interpolation point as the adaptation function,a new algorithm combining genetic algorithm with nonlinear programming algorithm is proposed to realize the optimal time trajectory planning.Informed RRT star algorithm is used for obstacle avoidance path planning.Compared with the RRT star algorithm,informed RRT star algorithm achieves better results in the length and time of the path.(3)In order to solve the problem that the traditional manipulator lacks the ability of autonomous recognition,the visual part is introduced into the control system of the manipulator to form a visual servo control system.Through camera calibration and image processing,the vision part can recognize and locate a series of objects,and enhance the environment perception ability of the manipulator.(4)The overall scheme of visual servo control system is designed.On this basis,the program design of visual servo control system is completed,and the grasping experiment is carried out to verify the feasibility of the designed visual servo control system.