A Visual Servo Control Method for Parallel Robot
A robot vision and servo control technology, applied in the field of servo control, can solve the problems of inaccurate positioning, occluded target, small shooting space, etc., and achieve the effect of large scope of application, good accuracy and wide applicability
Active Publication Date: 2022-02-01
TIANJIN UNIV
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Problems solved by technology
However, the visual servo of the traditional camera at the end of the parallel robot can obtain accurate information of the target, but it can only obtain a small shooting space, which seriously affects the working range of the parallel robot and reduces its work efficiency; the traditional camera fixed visual servo can ensure parallel The working range of the robot, but the information of its target is not accurate enough, and the movement of the parallel robot will block the target, resulting in inaccurate positioning
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[0019] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0020] A kind of parallel robot vision servo control method of the present invention as shown in the accompanying drawing, comprises the following steps:
[0021] Step 1. Install the parallel robot 2 above the transmission device 1 through the frame, install the fixed camera 3 on the frame, install the mobile camera 4 at the end of the parallel robot 2, and install the controller 5 on the parallel robot external.
[0022] Step 2, the target object to be captured enters the field of view of the fixed camera 3 driven by the transmission device 1, and the fixed camera 3 sends the images of the mobile camera 4 and the target object to be captured to the controller 5, The controller 5 runs an image-based visual servoing control process, specifically as follows:
[0023] (1) The controller 5 can adopt software such as existing Visual Studio to se...
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The invention discloses a visual servo control method for a parallel robot, which comprises the steps of installing the parallel robot above the transmission device through a frame, installing a fixed camera on the frame, installing a mobile camera at the end of the parallel robot, and installing a controller Installed outside the parallel robot. Based on the above system, firstly, the fixed camera controls the parallel robot through image-based visual servoing, so that the target object enters the field of view of the moving camera; Two cameras form binocular vision to obtain the height of the target object, and control the parallel robot to complete the grasping of the target object. The method has good accuracy and high stability.
Description
technical field [0001] The invention relates to a servo control method, in particular to a visual servo control method of a parallel robot. Background technique [0002] With the rapid development of my country's manufacturing industry, food, medical, electronics, light industry and other industries have an increasing demand for parallel robot products that can achieve rapid sorting, packaging, and testing. Using it to replace manual operations has a great impact Increased production efficiency. [0003] In various industries, the requirements for the working accuracy of parallel robots are getting higher and higher. In traditional machine vision positioning, the camera and parallel robots only send the coordinates at a certain moment and calculate through the conveyor belt encoder to complete the positioning operation. The camera and the parallel robot work independently of each other, which is an open-loop system, and it is easy to cause errors due to external interference...
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IPC IPC(8): B25J9/16B25J19/04
Inventor 张舵梅江平熊伟王浩闫寒李策
Owner TIANJIN UNIV