Research on Optimization Algorithm for Spatial Position Control of Robotic Visual Servo System

Based on the three joint of robotic arm, to track an arbitrary continued path, a moving control algorithm based on Particle Swarm Optimization was studied in the visual servo system of three-joint robot arm in the paper. The optimization is based on the minimum error of distance between the end poin...

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Bibliographic Details
Main Authors: Shi Yuqiu, Pan Shenghui, Ma Zhaomin, Han Junfeng
Format: Conference Proceeding
Language:English
Subjects:
Control systems
Intelligent robots
Joining processes
Joint Manipulator
Manipulators
Optimization Algorithm
Paper technology
Position control
Robot kinematics
Robot sensing systems
Robotics and automation
Servomechanisms
Visual Servo-controlled Robots
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Summary:Based on the three joint of robotic arm, to track an arbitrary continued path, a moving control algorithm based on Particle Swarm Optimization was studied in the visual servo system of three-joint robot arm in the paper. The optimization is based on the minimum error of distance between the end point of robot arm and the position of input path. In this case, the adaptability and intelligent of the robot would be improved with complicated working environment and task. The simulation experiment shows that the performance of system to track a continuous trajectory is Optimized, and has strong robustness.
DOI:10.1109/ICICTA.2010.595