Studies Of Robots Control Based On Visual Servo

With the kinematics and robot motion control theory, image processing technology and the rapid development of computer hardware technology and camera, visual servo control is applied in the robot research field more and more widely. It solves the intelligent robot to complete the task in an unknown environment accuracy and flexibility. Especially with visual servo control of robot because of its advantages of high flexibility, the theory and application have great progress. Based on the X2 BOT robot platform, the paper expanded the visal function and studied the visual servo of robot.The passage will get video information through the robot platform,and carry to process the image,and carry on the implementation of control strategies to control robot.According to the analysis of Robot kinematics model,the feasibility of which Fuzzy-PID technology were applied on mobile robot motion control was demonstrated,the author designed the method of the parameters of fuzzy self-tuning PID controller that combined a tradition PID and fuzzy inference.This algorithm used fuzzy inference to improve the control of adaptive capacity,through the PID to get the accuracy of control,and applied on robot motion control to achieve the purpose of optinmal control.Finally,this paper analyzed,designed the entire system and implemented the robot control based on visual servo on X2 BOT,the robot recognized and tracked the target in a short time.The results showed that this algorithm improved the response speed of the visual servo system,and reduced the robot tracking error.