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- Title
IMPLEMENTATION OF INTELLIGENT ROBOT CONTROL ALGORITHM BASED ON VISUAL SERVO CONTROL.
- Authors
Shanshan JIA
- Abstract
In order to study the visual servo control algorithm of intelligent robot, improve the autonomy of the control system, make it adapt to the surrounding environment spontaneously and make response, based on the visual servo control theory, the robot visual servo control system is constructed. Firstly, the collected images are processed and feature points are extracted. Secondly, the extended Hâ?ž particles (EHP) filtering algorithm is introduced to identify the image Jacobian matrix online. On this basis, the traditional Proportion Integral Differential (PID) control method and inverse Jacobian matrix control method are improved, and the inverse Jacobian matrix Proportion Integral (PI) control algorithm is proposed. Based on this, the whole operation flow of visual servo control system is constructed to control the robot to track the moving target in the plane. Finally, the control results are verified by simulation experiments. The results show that the robot under the guidance of the vision servo control algorithm can make real-time reflection according to the motion of the target in the plane. The tracking trajectory overlaps gradually and the trajectory error gradually returns to zero, which proves that this algorithm has high practical application value. This research has important reference value for the application of visual servo control algorithm and system in intelligent robot control.
- Subjects
ALGORITHMS; INTELLIGENT control systems; ROBOT control systems; JACOBIAN matrices; Z bosons; ROBOT vision
- Publication
Academic Journal of Manufacturing Engineering, 2020, Vol 18, Issue 3, p131
- ISSN
1583-7904
- Publication type
Article