Abstract
To solve the problems appeared in the research of the clamping mechanism of Bomb-Disposed Robot manipulator, weight estimation and clamping width estimation in the image of the suspicious explosive object has been worked out by using binocular stereo vision system. We obtain the estimation method of the suspicious explosive object's surface roughness according to row monochromatic gray scale difference of pre-gripping object's image matrix. We also construct current servo control system needed by completed flexible control strategy of Bomb-Disposed Robot manipulator; realizing command routing between the host control PC and imbedded target PC with the aid of data radio. The solution is proved to be feasible by our experiment.
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