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Control Technology Research of Industrial Robot Based on Visual Servo

Author: WangLe
Tutor: JiaoEnZuo
School: Nanjing Forestry University
Course: Control Theory and Control Engineering
Keywords: camera calibration industrial robot image characteristic visual servo track andlocation
CLC: TP242.2
Type: Master's thesis
Year: 2012
Downloads: 401
Quote: 1
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Abstract


The industrial robot control system could be embedded in machine vision, which willimprove the intelligence of industrial robots and widen industrial robots applications. The paperconstructs the industrial robot visual servo control system which includes CCD camera, imageacquisition card, computer, positional machine and other equipments. Through the scene ofimage processing and analysis, UP6robot can pick the static targets and trick the circularmotion targets.Firstly, the paper researches the algorithm of camera calibration, uses the MATLAB toachieve the camera parameter. According to the calibration results, which can get the mappingrelationship between graphical coordinate and robot coordinate. Secondly, as the analysis ofimage, the paper establishes a desired image characteristic matrix through the experiments.Using the algorithm of edge detection、template matching, which can get the feature matrix ofthe real-time image and establish the control of image feedback. Then the paper designs visualservo controller of static scene and dynamic scene. In terms of tricking dynamic targets, thepaper studies the circular motion targets and establishes "two hearts and one angular speed"model, through experimental verification to prove the correctness of the algorithm. CombinedKALMAN filtering and the global nearest neighbor algorithm, which can improve theperformance of visual servo controller and control robot to complete the servo works.Through several experiments and program tests, the paper constructs a primary robotvisual servo control system. Online experiments prove the results of this research. In theprocess of research, some deficiencies of robot motion control have been found and thesolutions are proposed. The research of visual servo system for industrial automation is animportant link, which has practical significance and reference value in the production andapplication.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Industrial robots
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