Robot Servo Control And Application Research Based On Vision Sensor

Robot technology has been applied to the production, living, military and other fields. With the expansion of the robot application fields, people have higher requirement on the performance of robots. In order to make robots have a higher cognition, laser radar, ultrasonic, visual sensors and so on are widely used in robots. The research of robot servo control based on visual becomes a hot spot. Using three self-developed robots, this paper makes analysis and research on the application of robot visual servo control.First, on the basis of summarizing the background and significance of robot visual servo control and related introduction, this paper introduces the camera model, and completes the calibration of whole vision system using Zhang calibration method combining the whole robot system. The analysis of influencing factors of the calibration accuracy are completed through experiments.Then, on the basis of the automatic guided vehicle, the tracking navigation are completed. Navigation line are extracted by using Hough line detecting algorithm. The servo control system is designed by using PID controller which is optimizated by particle swarm algorithm in combination with the car kinematics model. Experiments show the stability of the control system.Finally, the paper makes visual assembly and visual tracking with 5-DOF robot and PTZ which can lift. The pole is detected by improved Hough detecting algorithm Using the calibration parameters the coordinate transformation is finished, and a visual assembly system is designed and implemented. The assembling accuracy is verified by experiments. In the servo control about visual tracking, this paper uses Camshift tracking algorithm combining camera imaging principle to complete application research which makes PTZ track moving object. Experiments show it's real-time and effective.