Visual mechanical arm control device and method based on Camshift visual tracking and D-H modeling algorithms

Abstract

The invention discloses a visual mechanical arm control device based on Camshift visual tracking and D-H modeling algorithms. Image information acquired by a USB camera on a mechanical arm is analyzed by using a Camshift visual tracking algorithm to obtain precise positioning information of a workpiece to be grabbed and assembled; accurate positioning of such multiple targets as a visual mechanical arm, a target workpiece and a worktable is realized by using a robot forward kinematics D-H modeling algorithm; then, a multi-coordiate-system descriptive model with each steering engine joint as a coordinate system origin is built for the visual mechanical arm; and a closed analytic solution is derived through inverse dynamic calculation for different actions of the mechanical arm to determine unique control parameter of multiple steering engine joint movements of the mechanical arm, so that the precise control of the visual mechanical arm is realized, and such multiple actions as workpiece grabbing, machining, assembly and transportation by the mechanical arm are finished.

Description

technical field [0001] The invention belongs to the field of manipulators, and relates to a vision manipulator device, in particular to a vision manipulator control device and method based on Camshift vision tracking and D-H modeling algorithm. Background technique [0002] In recent years, with the rapid development of science and technology and the increasing scale of industrial production, the mechanical arm has gradually replaced various manual operations by virtue of its advantages of fast production speed, strong stability, high processing precision and low production cost. Applied to various industrial production processes. At the same time, with the widespread popularity of robotic arms, more and more production processes require robotic arms to have strong environmental adaptability and artificial intelligence, so that they can independently and efficiently complete various production processes to meet the needs of the production process. various requirements. The...

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Problems solved by technology

[0004] In order to overcome the above-mentioned shortcoming of prior art, the object of the present invention is to provide a kind of visual manipulator control device and method based on Camshift visual tracking and D-H modeling algorithm, It solves the problem that the visual robotic arm cannot be accurately controlled in the background, and has many advantages such as strong flexibility, accurate positioning, easy positioning target loss, high control precision, and energy saving.

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