The Research Of Visual Servo Control Method Based On Neural Network

With the rapid development of computer vision and robot control technology,robot visual servo has been widely applied in various fields.In this paper,a robot with fixed hand-eye structure is taken as the research object,and a position-based visual servo method is adopted.In order to enable the end-effector of robot to move quickly and accurately,a neural network is used to construct the control strategy of the visual servo system,and completed the set task finally..The main contents of implementation and completion are as follows:In order to obtain the expected state of the robot control system,the visual servo system needs to detect the target through the robot vision system.In this paper,based on the color feature image segmentation method and ViBe algorithm for detecting moving objects,these methods are tested and the expected experimental results are obtained..In inverse kinematics calculation of the robot with neural network,the redundancy of the robot joints led to a complex neural network structure,which results in difficulties in convergence and poor generalization performance and thus affect the control performance.In order to solve this problem,this paper proposes a scheme to divide a multi-output neural network controller into multiple sub-networks according to certain rules,and prunes the sub-network structure based on the Skeletonization algorithm,and controls the robot's end-effector by using the orderly combination of multiple sub-networks.The experimental results show that the algorithm can effectively achieve robot motion control and good performance.For the problem of moving target tracking and crawling,a monocular visual servo system based on ReLU network model is proposed.ReLU neural network is used to learn the inverse kinematics of robot,and the control strategy of visual servo system is constructed with the post-training network model.Combined with the above robot vision system applied to the NAO robot experimental platform,the servo control of the right arm of the NAO robot was realized.The experimental results show that this method can effectively complete the set tasks in a laboratory environment.