Design of robot visual servo controller based on neural network

Article type: Research Article

Authors: Wu, Qian^{a; b; *} | Gu, Jinan^b

Affiliations: [a] Suzhou Vocational University, Suzhou 215104, Jiangshu, China | [b] Mechanical Information Research Center, Jiangsu University, Zhenjiang 212013, Jiangshu, China

Correspondence: [*] Corresponding author: Qian Wu, Suzhou Vocational University, Suzhou 215104, Jiangshu, China. E-mail: [email protected].

Abstract: Robot visual servo control research makes the robot more intelligent, adaptive and efficient. In this paper, the eye in the hand and image-based robotic visual servo system is built according to the analysis of the structure and control model of the robot visual servo system. The robot Jacobian matrix is gained based on SDOF manipulator Robot kinematics analysis and simulation. The coordinate transformation of the visual servo system and the image Jacobi matrix are analyzed and deduced. Finally, the visual servo controller is designed based on the neural network intelligent control algorithm. Simulation results show that this design not only simplifies the complexity of image Jacobi matrix and hand eye calibration, but also has good real-time performance and generalization ability.

Keywords: Image-based visual servo, Jacobian matrix, neural network, simulation

DOI: 10.3233/JCM-180810

Journal: Journal of Computational Methods in Sciences and Engineering, vol. 18, no. 2, pp. 541-549, 2018