The Research On Visual Servo Robotic System Based On Image

Robotic control has been received more and more attention in the field of robot recent years. The topic spans many disciplines including robotics, control theory and engineering, mechanics and electronics, etc. At present, there are still many problems both in theory research and applications. This article is to research the image as a feedback control of robot visual servoing, the main contributions are summarized as follow:Firstly, this article introduced the development and research results of robot visual servo control, while described it in the control of the process involved theory, And from an economic and practical test on the system configuration, based on LEGO robots as the experiment hardware and Labview as the main control program of communication and image processing software package to achieve image processing, Bluetooth wireless connectivity software, computer-controlled robot, designed visual servo control system.Secondly, we studied the use of a camera as a vision sensor in robotic visual servoing. Visual system transfer camera images to computer in real-time through the USB bus. In the image processing, we proved that Gaussian filtering was better at dealing with image noise and based on the canny edge method detected characteristics of target, followed by extraction characteristics.Finally, we researched visual servo control algorithms based on the inverse of Jacobian, under this condition we constructed the Jacobian matrix and solved it, analyzed the stability of this algorithm, According to theoretical analysis results of the program the robot control system, the performance of both hardware and software all meet with such requirements as stability, reliability and real time etc.