Research On Model Prediction Method Of Robot Visual Servo Control

Visual servo system for robot control is a hotspot of research with the rapid development of the robot and computer vision technology.This paper made an in-depth study in the key problems that involved in robot visual servo system based on model prediction method.For example,image feature point extraction,and image Jacobin matrix identification and the design of robust model predictive controller.The main research contents are summarized as follow:Firstly,the paper established the coordinate system,and derived a general formula for the coordinate systems in the robot visual servo system.The visual imaging model and robot motion model are established by using the system coordinate system transformation matrix;inside and outside parameters of the cameras are calibrated,and the hand-eye model framework of robot visual servo system is established.Secondly,the images is processed and analyzed by image preprocessing,image edge detection and image feature point extraction.Gaussian filtering method is used to preprocess image noise,and got the image with better quality.Canny algorithm is used to detect image edge.Curvature scale space method is used to extract image feature points.Thirdly,an image Jacobian matrix estimation method based on adaptive Kalman filter compensation algorithm is presented.The visual servo control method based on image Jacobian matrix inverse is used,and the tracking of the target object by the robot end effector is realized.The simulation results show that the accuracy and feasibility of the adaptive Kalman filter compensation algorithm for image Jacobian matrix estimation.Finally,the time-delay model of visual servo system is established for the time-delay problem of visual servo system.The min-max optimization problem is transformed into the optimization problem of finding the minimum upper bound of cost function.Then,a robot visual servo control method that based on robust model prediction theory is studied.The stability of servo control system is proved that using linear matrix inequality to analyze the monotonicity of cost function.The simulation results show that the algorithm is effective in solving the time-delay problem of the visual servo system.