基于视觉定位的多关节串联人形机器人手臂系统的研究与实现

Research and Implementation of Multi Joint Series Humanoid Robot Arm System Based on Visual Positioning

本项目主要研究视觉定位的多关节串联人形机器人手臂,采用双目机器视觉进行空间坐标的定位,完成了较为复杂的空间坐标算法设计,为三维空间计算奠定了基础。采用人形机器人手臂,可以实现空间的复杂定位控制,为将来的工业机器人控制奠定了基础,也为将来的机器人本体、核心零部件的国产化奠定了基础。本文采用工控机对多关节并联机器人进行控制,完成了复杂的伺服运动控制,实现了闭环控制。

This project mainly focuses on the vision localization of multi joint humanoid robot arm. It uses binocular machine vision to locate the spatial coordinates, and completes the more complex spatial coordinate algorithm design, which lays the foundation for three-dimensional space computing. The humanoid robot arm can realize the complex location control in space, and lay the foundation for the future industrial robot control, and lay the foundation for the localization of robot body and core parts in the future. The industrial control machine is used to control the multi joint parallel robot, and the complex servo control is completed, and the closed loop control is realized.