Research On Virtual Muscle Based Visual Servoing For Manipulation

Automatization, impersonality, noncontact and high precision are the characteristics of visual serving, but the visual servo control methods no matter based on image or based on position, large amount data should be processed and the arithmetic is complex. Aiming at the existing defects, the author suggests a novel method -virtual muscle that tries to found a new method forming and controlling the robotics'track based on ocular signal. The contributions of this dissertation are listed below.Firstly, in order to test the arithmetic validity and form a good foundation for the follow up work, the author designed the disposing platform by the characteristics of the visual serving control system. Imitate the relationship between human's eyes and arms the author designed the vidicon sliding rail as the hardware platform which carried out by programming the image collection and robotics'control code in VC studio. By the software platform, figuring out the objects and the robotics projection according to the kinematics model and the coordinate transform and t Our software platform is to test the validity of the arithmetic according to adjusting the distance between the two vidicons and vidicons'poses in the Descartes space., so as to increase efficiency and decrease abrasion of hardware.Secondly, programmed the image processing arithmetic code which include the bottom arithmetic for the general condition comprises threshold division, region combination and informate and the middle level arithmetic for the given task comprises detecting the line dation creirection according to the Hough transform in order to fix on the hole's azimuth angle, detecting the aiguille tip position according to the image movement according to the environment and the image format.At last, the article emphasizes on the study of the novel robotics visual serving arithmetic, and validates the adjust estimate of the joint in the practical use. The author analyses the characteristics and the principle of the virtual muscle, based on which form the mathematical relationship model mapping to the joint angle. Then the author gets the outputs of the virtual muscle and the...