Design And Implementation Of Intelligent Robot Based On Visual Servo Control

With the development of robot technology,the robot in perception,thinking,effect began to develop into a comprehensive simulation of human machine system,plays a more and more complex and diverse tasks.The traditional robot in perception,recognition,reasoning,planning and other means are single,there are strong limitations,specific operations can only be used in special under the environment of visual servo control system.To make full use of the development of computer technology and image processing technology,the use of visual feedback information,the visual signal processing,more accurate,flexible,to control the robot autonomously,which has the ability of non-environment specific operation,has gradually developed into a new branch the servo control system of robot,has played an irreplaceable role in robot control.This paper mainly studies design and implementation of the robot visual servo control system,namely,construct the robot visual servo control system based on visual servo control theory.Mainly includes establishing independent design of robot mechanical structure,complete the construction of visual image processing library is based on and to determine the robot motion control parameters in moving control algorithm,the robot visual servo control based on.First according to the theory of visual servo control,completed the robot visual servo control of the overall design of the system.In order to improve the performance of control system,the scheme of double CPU control,are used to determine the visual servo control of the overall process,image processing,motor driving scheme.And then completed the design of the robot's mechanical structure and drive control circuit design.Mechanical structure comprises a chassis frame structure,walking mechanism,and structural design of manipulator.The manipulator by three degree of freedom design,and according to the Lagrange mechanics analysis method established the robot dynamics control equation.Drive control circuit is mainly used double CPU control mechanism,realize the power supply and image sensing and acquisition of driving and control main circuit.Finally,on the double CPU control mechanism based on to construct the visual servo control system software.The main completed based on the establishment of target feature library of image processing technology,image matching,object space coordinates are defined.By means of the target model learning to construct library isbuilt,the design matching algorithm,to extract the target feature values and characteristics of the library value of matching and locate a target in space.The paper also complete robot motion control functions according to the target location parameters.The algorithm and robot motion control parameters are determined by the range and determine;then according to movement control algorithm,control the robot complete capture of target.System test shows that the visual servo control of robot can well learn the object,to study fitness goals accurately complete the search and grabbing action,nonoperating capability under the specific environment,has a broad application prospect.