Study on behavior simulation for picking manipulator in virtual environment based on binocular stereo vision

Aiming to uncertain problem in the process of picking manipulator location and behavior decision-making in complex environment, an approach for picking manipulator location and behavior simulation integrating binocular stereo vision together virtual simulation technical was discussed. Firstly, the imaging of picking target and environment were gained by binocular stereo vision, secondly, the result data of picking target and environment after the imaging being handled were mapped into virtual environment, picking manipulator behavior decision-making and motion path planning were implemented by software simulation technical, picking manipulator accurate location was realized in virtual environment. Finally, the simulation motion data in virtual environment were transmitted to control motors at manipulator joint by USB interface, control motors drive manipulator moving automatically to the picking target position. The experimental platform was consisted of CCD stereo vision and simulation software, a location simulation system was developed by VC++ and EON SDK.