关键词: 机器人, 视觉伺服, 图像特征, 运动跟踪, 无标定

Abstract: Aiming at the un-calibrated robot Visual Servo system of the eye in hand structure, a fuzzy control strategy with image feature as feedback is proposed to track the moving objects in the plane. The control strategy is simulated by Matlab and Robotic toolbox. The motion tracking system of an un-calibrated robot Visual Servo system is constructed based on three axis Cartesian coordinate system robot, camera and computer. The working principle of the system is as follows: the current image is collected by the camera, then the relative position of the object and the end of robot is measured by Matlab image processing, the action state of the robot is controlled by the fuzzy controller. According to the image real-time feedback from camera, constantly correct the deviation, and ultimately achieve stable tracking. The experiment and simulation experiment of physical crawling verify the feasibility and practicability of the system. It provides a new way to improve the rapid crawling of industrial automation production line, and paves the way for the follow up of un-calibrated servo system.

Key words: Robot, visual servo, image feature, motion tracking, un-calibration