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Research on Robot Control with Position-based Visual Servoing and Target Recognition Methods

Author: YangZhongYao
Tutor: DuanSuoLin
School: Taiyuan University of Science and Technology
Course: Mechatronics
Keywords: Robot visual servo control Location-based visual servo Hu invariant moments Target recognition Binocular vision Experimental study
CLC: TP242.62
Type: Master's thesis
Year: 2008
Downloads: 306
Quote: 3
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Abstract


Robot vision technology is an important research field of machine vision, which is based on a theory of computer vision and digital image processing technology developed based emerging discipline, much robotics researchers widespread concern at home and abroad, and has successful application in many areas. GRB-400 four degrees of freedom visual robot system as the research object, the use of location-based visual servo control methods were studied robot single target object and the identification of the target object and crawl, get some important research results and conclusions . Carried out a detailed analysis of visual robot system for GRB-400, constructed including cameras and their calibration, digital image acquisition and processing, coordinate transformation, modeling and analysis of robot kinematics, trajectory planning and servo control system, including the robot visual servo frame structure of the control system, laying a solid foundation for the follow-up study. Object to the actual target object through the analysis and comparison of research include image filtering, image enhancement, edge detection and image segmentation, image preprocessing techniques and algorithms to select the image pre-processing in the visual servo system method. The DH method GBR-400 four degrees of freedom robot kinematics model and inverse kinematics is given, this provides a theoretical basis for the robot trajectory planning; study of camera calibration technology, a convenient camera line sexual calibration method, simplified nonlinear model for the linear model, reducing system experimental conditions, to simplify the complexity of the robot and camera calibration process, the feasibility of the method is verified by experiment. Research based on the location of binocular vision robot visual servo control system, the composition of the system structure, image processing technology, the single target object recognition method, kinematics analysis and trajectory planning, visual servo control detailed analysis and research, analysis traditional template matching algorithm, and then based on this single target object, based on the total pixel matching recognition algorithms, and the use of the experimental verification of the validity of the proposed method. Identified five target objects based on Hu Moment Invariant Feature and Euclidean distance similarity measure multi-target object recognition method for robot visual servo system, multi-target object recognition problem, through analysis and research , selection and crawl experimental studies to verify the validity of the method, also proved moment invariant as a characteristic value for the feasibility of the target object recognition. Also further proof: the feature-based robot visual servo control is a service control study of robot vision with great development potential research directions.

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