Research On Precision Motion Control Of Micro-motion Platform Based On Uncalibrated Visual Servo

Robot visual servoing is a system that uses the collected image information as a feedback signal to control the robot to complete tasks.In an image-based visual servo system,the relationship between image feature changes and robot joint angle changes is non-linear.Traditional calibration methods are often difficult to obtain better results in actual production and life,especially when faced with more complex on-site environments.The calibration effect in turn affects the accuracy of visual servoing and the speed of task completion.The non-calibration technology has received extensive attention since it was proposed.The visual servoing based on the non-calibration technology has strong adaptability under unknown working conditions and more complex tasks.This paper takes Mitsubishi's robotic arm as the research object and designs a visual servo control system based on calibrationfree technology.First,perform preprocessing such as image filtering and enhancement on the collected image information,use Canny and other operators to perform threshold segmentation on the processed image,obtain the contour information of the target,and use the improved template matching algorithm based on image moments to identify the target image Work;Secondly,a visual servo controller based on the hybrid optimization of back-propagation neural network and genetic algorithm(GA-BP)is constructed,and the initial weight and threshold of the neural network are optimized by genetic algorithm,which speeds up the speed and accuracy of image processing;finally,it is proposed A robotic arm inverse solution algorithm based on extreme learning machine and particle swarm optimization genetic algorithm(ELM-PSO-GA),which combines the strong global search capability of genetic algorithm and the strong local search capability of particle swarm algorithm,which improves the inverse solution of robotic arm.Solution accuracy,to achieve precise control of the robotic arm.This paper designs and establishes a visual servo control system based on noncalibration technology.The experimental results show that the proposed controller has better control effect than traditional control methods,and can make the end-effector complete higher speed at a faster speed.The task of precision realizes the function of precise control and provides an effective control method for robot control.