Design of hybrid visual servo control system of mechanical arm based on image and position

摘要

There are two kinds of common visual servo control systems about mechanical arm. One is the position-based visual servo system, and the other is the image-based visual servo system. The precision of the first kind is influenced by the environment easily. And the depth information of the second one is difficult to estimate. A hybrid visual servo control system of mechanical arm based on image and position is proposed in the paper. The mechanical arm with six degrees of freedom and eye-in-hand configuration are used to control. Ultrasonic module is used to measure the distance from the mechanical claw to the target. The whole mechanical arm is divided into three directions to control including horizontal rotation, vertical swing and depth contraction. The horizontal rotation and vertical swing rely on the image-based visual servo system to control and the depth contraction relies on the position-based visual servo system to control. Upon applying the PD controller to the control, the system has a good stability. The experimental results convey that hybrid visual servo control system of mechanical arm can capture moving objects accurately and has strong stability.