Study On Manipulator Servo Control System And Visual Teaching

Robots?cars and computers are described as the leading industries in twenty-first century.Robots become an indispensable assistant to human for its application having penetrated into all aspects of our life and work.However,the traditional teaching playback mode and off-line programming to make robot to perform repetitive movements can not meet the requirments.With the continuous development of robot technology and modern detection technology,intelligent robot has become a hot research in this field.Intelligent allow the robot to perceive the external environment changes,perform movements by sensors,thereby reducing programing and improving the robot's autonomous ability to adapt.This paper designs a set of manipulator servo control system and studies visual teaching,finally,it achieves the goal to command the manipulator to perform appropriate movements.This paper researches visual teaching based on manipulator Movemaster EX RV-M1 which has lost control system in the laboratory.Firstly,it gets driving principles and technique parameters by surveying and mapping,and finishes the design of manipulator servo control system after kinematic analysis,circuitry and programing design.Then the paper gets skeleton joint data with Kinect V2,and filters out jitter and jump between the frames by Holt exponential smoothing.The joint angle is calculated by space vector methd and sent to servo control system through serial port.Filally visual teaching system is completed,and the experiments verify the feasibility of the system.This study achieves the visual teaching purpose.It is a beneficial attempt of the robot intelligence.