Research on Robot Visual Servo Control Based on Image Identification
- DOI
- 10.2991/msota-16.2016.84How to use a DOI?
- Keywords
- robot; Jacobian matrix; DSP image processing system
- Abstract
The research is mainly about robot system, DPS image processing system and Jacobian matrix. The robot in this study is a plenary robot with two rotary joints. It can only move in two directions, x and y. The joints are powered by Panasonic ac servo motor. The CCD camera is installed at the end of the second arm. The math model of the robot visual servo system based on image was set up here. By avoiding the transformation of three-dimension coordinate, Jacobian matrix and its inverse matrix that show the relationship between the coordinate variation and the angle variation of the joints were set up. The two matrices were also used in the visual servo based on image. DSP image processing system processes the video image of object taken by CCD camera. It first transforms the image into gray level image. Then it gets the boundary of the round object after going through the processes of image binaryzation, median filtering and boundary extraction algorithm. Barycentric coordinates will be evaluated through point Hough transformation. The outcome will be sent to master control program of the Industrial Personal Computer through serial ports and thus the visual servo circulation is formed.
- Copyright
- © 2017, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Qian Wu AU - Jinan Gu PY - 2016/12 DA - 2016/12 TI - Research on Robot Visual Servo Control Based on Image Identification BT - Proceedings of 2016 International Conference on Modeling, Simulation and Optimization Technologies and Applications (MSOTA2016) PB - Atlantis Press SP - 384 EP - 387 SN - 2352-538X UR - https://doi.org/10.2991/msota-16.2016.84 DO - 10.2991/msota-16.2016.84 ID - Wu2016/12 ER -