Research On Visual Servo Control Method Of Industrial Robot

Robot visual servo is a hot topic in the field of machine vision.Visual robot has the ability to analyze environmental information and perform tasks independently.It is widely used in aerospace,defense and industrial automation.In this paper,taking six degrees of freedom of industrial robots as the object to study the visual servo control system based on image,analyzes and designs each part of the system in detail,and prove the feasibility of the system by MATLAB simulation and physical experiment.The main research contents are as follows:Firstly,the robot visual servo control system is analyzed,and the camera model and the mechanics analysis are described.This part is the indispensable knowledge reserve of the visual servo system,the categories of the visual servo system are introduced,and the visualization based on the position and the image Servo system,for the next study to do the theoretical preparation.Secondly,the image processing and analysis of the target image,including image acquisition,image preprocessing,image edge detection and target feature extraction.In the process of preprocessing,the Gaussian filtering method has a good effect on eliminating the ambient noise.By contrasting several image edge detection methods,the Canny edge detection operator is used to detect the edge of the image.After the edge detection is completed,the target feature is extracted by using the method of image moments.In order to improve the real-time response of the system,effectively track the faster target,an inverse Jacobian matrix PI with predictive compensation is proposed.In this paper,we focus on the visual servo control method based on Jacobian matrix inverse.Control algorithm,and the extended H? particle filter algorithm is used to identify the Jacobian matrix of the image,and the Kalman filter algorithm is used to compare the experiment.The simulation experiment is carried out by using MATLAB to verify the feasibility of the visual servo control method.Finally,the visual servo control system experiment platform is constructed,and the visual servo control system interface is designed by using C++.Then,the target recognition and target tracking experiment are designed.The trajectory tracking experiment of the moving target is used to verify the control method in the practical engineering application Effectiveness,proving that the image-based visual servo system can achieve the desired effect.