With the increasingly extensive application of robots in industrial production, visual of the robotic arm has become an important research direction in the field of robots, which is also recognized as believed to widely considered to the most vital directions of modern high-tech development. In the robot vision system, the binocular visual system is most widely applied. When the robotic arm based on binocular vision captures the object, SURF algorithm is adopted to realize feature point extraction and matching of images. Because of the influence of the objective factors, there is false match in the process of SURF matching of feature points. In this paper, SURF algorithm is improved and reverse feature vectors matching strategy is used to initialize the matching points set. Then the RANSAC algorithm is adopted to select the initial matching points set in accordance of the polar geometric model to get the final good match set. The experiment results show that the improved SURF algorithm has higher registration accuracy and faster speed than SURF.

In this paper, the real-time joint stiffness configuration strategy of a series parallel hybrid 7-DOF (degree of freedom) humanoid manipulator with flexible joints in continuous motion is studied. Firstly, considering the potential human robot accidental collision, combined with the manipulator safety index (MSI) and human body injury thresholds, the motion speed and joint stiffness of the robot are optimized in advance. Secondly, using hyperbolic tangent function for reference, the relationship between joint torques and passive joint deflection angles of the robot is given, which is beneficial for the real-time calculation of joint stiffness and obtain reasonable joint stiffness. Then, the structural model of the selected humanoid manipulator is described, on this basis, the relationship between the joint space stiffness and the Cartesian space stiffness of the humanoid manipulator is analyzed through Jacobian matrix, and the results show that the posture and joint space stiffness of the humanoid manipulator directly affect the Cartesian space stiffness of the humanoid manipulator. Finally, according to whether the humanoid manipulator works in the human-robot interaction environment, the real-time joint stiffness configuration of the humanoid manipulator in continuous motion is simulated and analyzed. The research shows that the humanoid manipulator with flexible joints can adjust the joint stiffness in real-time during continuous motion, and the joint stiffness configuration strategy can effectively improve the safety of human body in human-robot collision. In addition, in application, when the joint space stiffness of the robot is lower, the position accuracy can be improved by trajectory compensation.