PD-SMC control method of visual servo system based on eye-on-hand structure
A PD-SMC and visual servo technology, applied in the field of visual servo system, can solve the problems of difficult degrees of freedom and low real-time control, and achieve the effects of optimizing motion trajectory, ensuring stability, and alleviating system uncertainty.
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[0038] Specific Embodiment 1: Combining Figure 1 to Figure 7 Describe the implementation mode, a PD-SMC control method implemented on the visual servo system based on the eye-on-hand structure, the applied visual servo system structure based on the eye-on-hand structure is as follows figure 1 As shown, it includes a visual servo control part and a joint control part; the visual servo control part includes a video camera, a first computer and a second computer; the joint control part includes a controller and a six-degree-of-freedom mechanical arm (Denso robot), and a video camera Installed at the end of the six-degree-of-freedom mechanical arm; the first computer is connected to the six-degree-of-freedom mechanical arm through the controller, and transmits the command to the second computer through the communication network, and the second computer is connected to the six-degree-of-freedom mechanical arm and obtains image data, and then The image data is passed back to the fi...
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