Design Of Control System Of Rectangular Coordinate Manipulator Based On Vision

In recent years,all countries in the world are facing the problem of serious shortage of resources.The ocean is rich in mineral resources,fishery resources and other natural resources,but the marine environment is more complex and dangerous.There are huge potential safety hazards in manual exploration and mining.The underwater manipulator based on vision can complete the underwater target recognition and positioning.After receiving the threedimensional coordinates of the underwater target,the manipulator servo control system controls the manipulator to reach the position of the underwater target to complete the specified work.The main research work of this paper is as follows:1.In order to realize the positioning control of underwater target,the control device of underwater rectangular coordinate manipulator based on vision is designed.According to the design requirements,appropriate devices are selected to build the hardware system of underwater rectangular coordinate manipulator based on vision.2.The fixed-point control system of cartesian coordinate robot based on vision is designed,and the kinematics of cartesian coordinate manipulator is modeled by D-H parameter method.And then the dynamics of Cartes ian coordinate manipulator is modeled by Lagrange method.Finally,the vector coordinate rotation of permanent magnet synchronous motor is mathematically analyzed and modeled.3.Design the underwater target recognition and positioning system Firstly,design the hardware structure of the vision system,then design the monocular camera calibration and hand eye calibration methods through experiments for underwater target recognition,and finally carry out underwater target recognition and positioning based on yolo-v3 algorithm.4.Firstly,it improves the speed loop and position loop control algorithm of permanent magnet synchronous motor.Speed loop fuzzy PI controller and position loop feedforward controller are designed Simulation results show that permanent magnet synchronous motor has better control accuracy than traditional PID control method.Then,according to the dynamic model established by Lagrange method,servo controllers are designed for x-axis,Yaxis and z-axis respectively.Finally,the simulation verifies that the servo control system has accurate positioning accuracy for single axis.5.A vis ion based Cartesian manipulator control system is designed.Firstly,the Cartesian manipulator is modeled by gazebo,then the vision based Cartesian manipulator is simulated by ROS simulation,and finally the control effect of the visual servo control system is verified by simulation.