Quan Sun

Research of positioning system for virtual manipulator based on visual error compensation

The space positioning mechanism based on binocular stereo vision system for the picking manipulator was analyzed, and the positioning process simulation system for space manipulator was developed by virtual reality technology. The precise positioning for a virtual space manipulator was achieved in the simulation system, through a combination of the positioning error compensation mechanism for binocular stereo vision system; provide a reference for the research into exact position of picking robot in the actual operating environment.

Intelligent Design and Kinematics Analysis of Picking Robot Manipulator

Aiming at the feature of picking for the biological fruits, an intelligent design of the 5 degree of freedom of lichi picking manipulator was introduced. Based on the first version of the manipulator, its mechanism and manufacture processes were improved, and the key technology in the mechanism design of the manipulator was studied, including some novel design thought and methods of the arm joint and end-effector. Meanwhile, according to the design scheme, the Denavit-Hatenberg method, which is a common method for solving robot kinematics, and a geometry method were adopted to analyze and calculate the manipulator’s kinematics solution and its inverse solution. It provides the foundation of continuous optimization of the manipulator’s mechanism and control design. At last, the Intelligent design system of picking manipulator was developed in the platform of Microsoft VisualC++, the design scheme and structure design of the manipulator can be optimized in the design system, moreover, through the human-computer interaction, the realtime simulation of the mechanism motion and coordinate inverse calculation can be realized.

Research on Virtual Design and Simulation System for Manipulators of Multi-Degree of Freedom

According to different environment and working requirement, the manipulators with diverse shapes and functions are required. In this paper, a virtual design and simulation system for manipulators of multi-degree of freedom (DOF) was put forward. Knowledge classification and modeling were carried out for the manipulator’s mechanism and motion behaviors. The software architecture framework and platform of the hardware and software were described. The overall program approach and its realization of the system were introduced. Based on the VC++ 6.0 development platform, the manipulator’s design and simulation system was developed and tested by examples. The results show that it provides a theoretical method and a tool for the virtual design and virtual manufacturing of multi-DOF manipulators in complex environment, which elevates the speed and lowers the cost of research and development.

Real-Time Simulation System of Virtual Picking Manipulator Based on Parametric Design

Aiming at the complexity of operation and control of the agricultural picking manipulator, a simulation system of the manipulator based on virtual design was developed. Firstly, the mechanism models and mathematical models of the manipulator were constructed. The simulation platform of virtual picking manipulator was developed. The designers can make parametric design of the manipulator real-timely; secondly, constraint and routing design for the motion trace of the virtual manipulator were made to realize real-time simulation of the manipulator; thirdly, the positive and inverse solutions of the kinematical equation of the manipulator was solved in the system, obtained from which the parameters were transferred to the motion node of the manipulator in the virtual scene to control its motion; finally, the visual and interactive dynamic simulation of the manipulators operation behaviors and controls was realized. The results shows that the system is practical and can realize optimized design and motion control.

Design and Research of Camera Calibration System in Binocular Stereo Vision

Aiming at the camera calibration of binocular stereo vision system, based on Zhang’s calibration method, the specified points in the calibration template obtained by the Harris operator, a set of camera calibration system combined with VC++ and Matlab was developed. The results of the calibration system, comparing with those of four-step calibration method, was analyzed and showed that: the error of calibration data in this system was within 0~5 mm, which had a high precision calibration, providing a new reference measure for the camera calibration.

Parametric Intelligent Design System of Manipulator of 4 DOF

In order to realize rapid design, a parametric intelligent design system of picking manipulator (PIDS-PM) of 4 DOF( Degree of Freedom) was developed. The design was reused and became more standard, the development cycle was shortened and the cost was reduced. First, knowledge attribute properties of manipulator were extracted and classified and parameterized according to its functions. They were consisted of a reusable knowledge structure module which included all the information, relationships and maps among parameters. Second, a knowledge repository based on database was constructed, which was used to query the database and obtain the optimal design scheme. Finally, the system was realized by using VC++6.0 including its structure, main function modules, user interface and its design result.

Development of the Picking Manipulator Simulation Platform Based on Multi-Domain System

In order to reduce the research and experimental cost of hand-picking machine, to make the design of manipulator more reasonable, and to provide more optimized program for the design, an agricultural picking manipulator simulation system based on intelligent design was designed. Firstly ,based on the research needs, to simplify the real picking manipulator under the premise of that the simulation accuracy reach the requirement, the model of picking manipulator had been simplified. Secondly, the finished model was put into EON Studio to build the virtual procedure, and movement properties were added to the manipulator to realize the function of motion simulation. Thirdly, the picking manipulator mathematics motion model of 4 freedoms was established, and the inverse kinematics of the picking manipulator was analyzed by MATLAB analysis tools, and the reverse solution program was written. Finally, Microsoft Visual C++ was used to complete the design of simulation platform, in order to realize the calling of various functions of the manipulator.