Image Processing and Control Strategy of Tele-Operating System of a Bomb-Disposed Robot

Armed at solving the problems appeared in researching servo control system of bomb-disposed robot at a distance, adopting Zhangpsilas image calibrating method, accomplished the both eyes stereo-identity mission. Having found the geometry solution for every manipulator joint angle, avoided finding the solution of inverse process of the kinematics. Have applied the RTW code to generate a software , built the target system of xPC Target, used data transfer station, realized parallel working between master control PC machine and embedded computer PC104, structured bomb-disposed robot servo control system at a distance. 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 rows of image matrix of pre explosive object, the estimation way of explosive object surface roughness is gained. Meanwhile, current servo-control needed by completed flexible control strategy of explosive handling robot´s paw has been constructed. The project is feasible proved by my experiment.