Research on Control Methods for Automatic Drilling Robot Based on Visual Servoing

In the demolition blasting scene, a large number of humans are needed to drill the gun holes. Aiming at the problems of harsh blasting environment, high accuracy of drilling operation and large number of drilling holes, an automatic drilling robot is designed, and a visual servo drilling algorithm of cooperative manipulator with stable trajectory is proposed. This method is a control method based on visual feedback. The manipulator is calibrated by hand and eye, and the manipulator servo experiments of image-based visual servoing (IBVS) and position-based visual servoing (PBVS) are carried out based on Apriltag tag as the target object. In the experiment, three factors that may affect the robustness of visual servoing tasks, namely, different lighting conditions, different target object poses and hand-eye calibration, were tested in orthogonal experiments. The experimental results show that the robustness of the automatic drilling robot control method based on image visual servoing using point features is better than that of the position-based visual servoing control method. The visual error convergence curve, camera motion speed curve and camera motion trajectory of IBVS are better than those of PBVS, and the accuracy of visual error convergence can meet the drilling requirements of demolition.