The Research Of Motion Control Based On Machine Vision

Robot motion control based on machine vision is an important way to use visualinformation feedback control for robot. Its academic foundation covers machine vision,image processing, robot kinematics, robot dynamics, control theory etc. Thedevelopment status of the machine vision is overviewed, the camera calibrationalgorithm is analyzed, the most basic method of visual servo dynamics modelingapproach is discussed in this paper. The robot trajectory tracking is in-depth researched.The flexibility, efficiency, accuracy and speed is improved by using of robot dynamicsstudied nursing robot trajectory tracking.Through analysis of the camera imaging and understanding of the principles, onthe basis of the latest theory, cameras calibration algorithm based on Modified ParticleSwarm Algorithm is put forward combined the current internal and external cameraparameters with distortion coefficients models, and camera calibration is simplifiedand the feasibility of this method is proved by the experiment.To ensure the stability and asymptotically of the robot system, a fusion modelbased on RBF neural network adaptive controller trajectory tracking algorithm isdesigned, Taking into account the disturbance of work environment and friction factorson the system, the trajectory tracking experiment is conducted. Added the neuralnetwork adaptive compensation algorithm controller in the control system, RBF neuralnetworks eliminate the effects of these uncertainties caused by the system control,adaptive is used to estimate the uncertainty and reconstruction of neural networkserrors. To improve anti-jamming capability and stability of the system, Lyapunovfunction is asymptotically stable using the weighted matrix. So that it can accuratelytrack the trajectory, through dynamic modeling, simulation using Matlab verifiestrajectory tracking. The error is reduced through data curve fitting trajectory, thetracking accuracy is improved, the maximum deviation and steady-state error areimproved significantly. Through the selection and implementation of the systemhardware, calibration algorithm and trajectory tracking algorithm proposed in this paper is used in this nursing robot, so that high-speed, high-precision tracking person’shead are achieved, using MFC to complete interactive interface design to ensure thatthe entire motion control system safe and stable operation, and make it simple andeasy to operate.