Design of Visual Servo Control System for 6-DOF Manipulator

Aiming at the problem that the manipulator arm cannot adapt to the change of the external environment in the complex working environment, a servo control system design of the 6-DOF manipulator based on binocular vision was proposed. The D-H modeling method is used to model and solve the kinematics of the manipulator, and target coordinates are provided for the manipulator through binocular vision and hand-eye calibration, thus realize the function of visual servo system. Finally, the accuracy of binocular measurement is verified and the autonomous grasping action is completed.