Rigid-Soft Hybrid Visual Servo Robot

The lab’s self-funded project aimed to enhance robot-environment interaction by developing hardware platforms and control algorithms for rigid-soft hybrid robots. An input mapping module was introduced in the visual servoing system to mitigate disturbances and improve response speed.

Display Layer:

• Human-Machine Interaction Interface:

  Developed using Qt for user-friendly operation and visualization.

Service Layer:

• Control Module:

  Designed to handle the primary control logic.

• Image Processing Module:

  Responsible for processing visual data, implemented using Python and MATLAB.

Communication Layer:

• Serial Communication Protocols:

  Includes RS and USB interfaces for data transfer and parsing.

Hardware Layer:

• Rigid Robotic Arm:

  The main manipulator providing structural support and precision.

• Soft Mechanism:

  Integrated for enhanced compliance and adaptability.

• High-Precision Camera:

  Ensures accurate visual data acquisition.

• Miniature Camera:

  For additional visual inputs in constrained or detailed environments.

This layered architecture ensures seamless integration of software and hardware components, enabling precise and reliable operation in visual servo applications.