Design of robot visual servo controller based on neural network

摘要

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.