The develop of the bombdisposed robot control system base on image identification

摘要

Armed at solving the problems appeared in researchin remote control system of the bomb-disposed robot, a five-DOF manipulator and two directions of the freedom are produced, and the manipulator joint angle of the geometric method is given which avoided finding the solution of inverse process of the kinematics. To solve the problems appeared in the research process of the clamping mechanism of explosive handling robot's paw, stereo vision identification system is used, producing weight and clamping width estimation in the image of the suspicious explosive object. According to the monochrome gray scale difference in coloums of image matrix of pre explosive object, the estimation way of explosive object surface roughness is gained The project is feasible proved by my experiment.