Kinematics Analysis And Research Of Robotic Arm Based On Binocular Vision Positioning

Currently,most robots are faced with a constant environment and perform fixed tasks repeatedly.The work efficiency of industrial robots has great advantages over manual labor,and can work in scenes with harsh working environments.In practical production applications,the control of the robotic arm is mostly in the form of teaching or remote programming.In fact,mechanical programs are written in advance most of the time.In the future,people hope that robots have stronger judgment ability in terms of intelligence and autonomous decision-making capabilities.The addition of binocular vision enables industrial robots to have the ability to perceive the environment,providing the possibility for them to improve flexibility and autonomous perception and decision-making.The fusion of vision and robot motion control enables the robot to have the characteristics of accurate terminal posture and self-adjustment,which is also known as an important development trend of robot automation and intelligence in the future.In this paper,the D-H parameter method is used to establish the mathematical model of the six-axis manipulator,so that the physical prototype of the manipulator can be described by mathematical methods.A coordinate system is established for each link of the manipulator,and the pose transformation matrix is calculated for each link coordinate system.On the basis of this mathematical model,the kinematics solution and derivation of forward and reverse directions are carried out,and then Matlab software is used to verify the derived derivation formula.The intelligent algorithm combining particle swarm algorithm and beetle algorithm realizes the reverse solution from the end pose of the manipulator to the joint angle,that is,the inverse solution calculation,and records the kinematic inverse of the intelligent algorithm for different target poses.solution result..For the trajectory planning of the end effector,the running trajectory is interpolated by using the polynomial interpolation function,and the corresponding simulation research is done.After completing the research on the motion control of the robotic arm,it is also necessary to study the spatial position to which the motion will reach.The work of spatial localization is carried out with a binocular camera.At the same time,the binocular vision system of the robotic arm is studied.Firstly,the binocular camera is used to collect images from different angles of the calibration paper,and the calibration of the internal and external parameters of the camera.Determined,and the error data of the calibration results were obtained based on Matlab software.At the same time,image preprocessing is performed on the original images and then performing the SIFT feature extraction,completing the matching and realize identification.The outline of the target object in the image is extracted by the edge detection algorithm,and then the centroid position of the target is determined,which is used as the target position for the end effector of the robotic arm.Finally,based on the Simulink platform,this paper conducts a visual simulation experiment of the manipulator.The further verifies of the research on the kinematics is done.