Open AccessVision servo positioning control of robot manipulator for distribution line insulation wrapping
Author(s) -
Xiaoxue Tang,
Xiao Han,
Wudong Zhen,
Zhou Jing,
Peng Wu
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1754/1/012133
Subject(s) - servo control , servo , jacobian matrix and determinant , visual servoing , computer science , process (computing) , robot , line (geometry) , control theory (sociology) , visual control , computer vision , control engineering , reliability (semiconductor) , artificial intelligence , control (management) , engineering , mathematics , power (physics) , physics , geometry , quantum mechanics , operating system
Traditional visual servo control based on location needs to convert two-dimensional information into three-dimensional space information, and the conversion process is subject to many interference factors, leading to large control errors. Aiming at the above problems, the visual servo positioning control of distribution line insulated wrapping robot and manipulator is studied. The position and pose of the manipulator are described and homogeneous transformed so as to calibrate the camera vision system of the manipulator. The image Jacobian matrix is established to realize the visual servo positioning control of the manipulator. Compared with the traditional control method, the experimental verification shows that the control method can reduce the pose error by at least 39.7%, and the control effect is more stable and the reliability is better.