机器视觉的伺服机械臂运动平稳性控制系统

Motion Stability Control System of Servo Manipulator Based on Machine Vision

为提高机械臂的平稳性,提出一种基于机器视觉的伺服机械臂运动平稳性控制系统。计算出空间内三维点至摄像机间的成像平面关系,并去除透镜生成畸变的机器视觉图像,再利用D-H法,构建各伺服机械臂关节坐标系,采用逆运动学控制每个关节转动,令机械臂末端的执行机构到达指定的目标,实现轨迹控制以及运动规划。最后利用电源模块、主控制器芯片以及协处理器的控制芯片,实现系统的构建。实验证明:构建系统在绘制图像时,基本与输入指标一致,存在微小的误差可忽略不计,伺服机械臂运动的平稳性优越。

In order to improve the stability of the manipulator,a motion stability control system of servo manipulator based on machine vision is proposed.The imaging plane relation between the three-dimensional points in the space and the camera is calculated,and the distorted machine vision image is generated by removing the lens.Then,the joint coordinate system of each servo manipulator is constructed by using the D-H method.The inverse kinematics is used to control the rotation of each joint,so that the actuator at the end of the manipulator can reach the specified target and realize trajectory control and motion planning.Finally,the power module,the main controller chip and the control chip of the coprocessor are used to realize the construction of the system.Experiments show that when drawing images,the proposed system is largely consistent with the input index,the resultant errors can be neglected,and motion stability of the servo manipulator is satisfactory.