The Study Of Distributed Visual Servo Robot System

The practice presents a distributed visual servo robot system, which is composed of GRB-400 robot system with 4 degrees of freedom and CORECO high speed image capture system. In the system, TCP/IP technology is applied, 2D moving object can be traced by using PID control or fuzzy control. The distributed system has been applied to a lot of fields, such as SCADA(Supervisory Control And Data Acquisition), DCS (distributed Control system), ATM and many kinds of internet service system. At the end of 80s last century, the research of multi robot cooperative systems, especially based on the concept of multi-agent system in the field of Distributed Artificial Intelligence, has received much attention in robotics.Normally, the visual servo robot system are composed by tow main sub-system(visual feedback system and robotic control system). It is simple and convenience to make the tow sub-system cooperate by using distributed autonomous system. In this system, image capturing, image processing and image characteristics are finished by visual feedback system, and feedback data are given finally. The robotic control system will drive the robot to the proper position according to the feedback data and the current state of the robot. The two sub-system are conneted by ethernet to compose a closed loop system. The communication between the tow sub-system are based on TCP/IP technology, using windows sockets programming in Server/Client Mode. It becomes easier and more convenience to research on the image processing, image characteristics, visual controller designing, control algorithm and so on independently.Though this practice mainly discusses the basic conceptual framework of visual servo robot system and distributed autonomous system, image characteristics, the algorithms of the robotic control and image processing, the programming of network communication and windows application software. And finally a distributed visual servo robot system is established successfully, which autothreshold and digital filter are applied to visual feedback system to improve the robust, and the 2D moving object can be traced by using PID control or fuzzy control.