Kinematics Analysis And Research Of Manipulator Based On Machine Vision Positioning

The flexible control technology is one of the hot research contents in the field of the manipulator control.At present,the motion control of the manipulator is mostly completed by teaching or pre-programming,the working path of the end effector of the manipulator is set in advance,and the joints are just performing the planned actions repeatedly,these controlling methods can not meet the flexibility and autonomy of the manipulator control.With the complexity of the manipulator's using environment,the manipulators are required to have a good flexibility and adaptability while maintaining the high precision and efficiency,so as to meet the needs of automatic production and life.The fusion technology of the machine vision and manipulator motion control,with the characteristics of the accuracy,efficiency and self-adjusting,has become a key emerging research content in the field of manipulator.The intelligent manipulator based on machine vision positioning will also be one of the important development directions in the field of robot automation in the future.In this paper,the dual arm robot is taken as the research object,and its kinematics analysis and reasonable trajectory planning are carried out.The D-H parameters method is used to complete the establishment of the kinematics model,the forward kinematics analysis and solving process of the manipulator is completed based on the pose matrix transformation method,and the inverse kinematics solving process of the manipulator is completed by establishing a method that is the combination of geometric analysis and algebraic analysis method.At the same time,the trajectory of the manipulator is planned by using polynomial interpolation function.Finally,based on the Matlab software,the kinematics analysis and trajectory planning results are simulated and verified,and a GUI user interface is established,which can easily get the forward and inverse kinematics solution results of the manipulator in different states.In this paper,the robot vision system is studied.Firstly,the camera is calibrated.Then,the calibration experiment is completed based on Matlab software,and the parameters are obtained.The noise removal and image enhancement pre-treatment are carried out for the original image that collected by the camera,and the SIFT feature extraction of the image is completed.The target matching in the two images is successfully realized,and the target recognition is completed.At last,the edge detection operator is used to extract the contour of the object in the image,and the position of theobject centroid in the image is determined based on the contour moment method,which is used as the grasping point of the manipulator.Finally,based on the Solid Works and Simulink,the establishment of the visual simulation system of the physical model of the manipulator is completed and the verification of the simulation experiment is finished.On the basis of the Simulink platform,a set of visual,modular,fast and effective robot simulation method is created for the dual arm robot,and the visual simulation of motion control can be carried out conveniently and the visualized results can be displayed.