Design of Dynamic Grasping Vision Servo System Based on Pyramid Optimization Interception Algorithm

The dynamic grasping vision servo system is a crucial component in the dynamic tracking and grasping process of sorting robots. The real-time response of the dynamic grasping vision servo control system determines the grasping strategy, system responsiveness, and motion trajectory planning of the sorting robot. With the aim of improving the grasping efficiency of sorting robots, this paper presents a comprehensive system design for a dynamic grasping vision servo system specifically tailored for fasteners. The system integrates the pyramid optimization interception algorithm, and a suitable hardware platform is selected for the implementation. The design includes establishing the transformation relationship between pixels, cameras, and world coordinates. Camera calibration and hand-eye calibration are performed to ensure accurate measurement and perception. MATLAB and Simulink are utilized for modeling and simulation of the pyramid optimization interception algorithm and the dynamic grasping vision servo system. The feasibility of the proposed design is demonstrated through these simulations.