Simulation of Image Feedback Robot Manipulator Visual Servo System

摘要

Robotic visual system is one of the most important subjects in the field of robot, its research findings can be directly applied to robot obstacle avoiding, trajectory tracking and moving object tracking, etc. In this paper, the principle for robot visual servo system based on image Jacobian is analyzed and the Matlab functions for the robot control and the Simulink models are integrated organically by building sub-systems. The Simulink scheme for a six DOFs Motoman-SV3 industrial robot visual servo system based on the image feedback is built with the robotics toolbox for Matlab. The simulation experiment for Motoman-SV3 robot tracking a target in the 3D space with a spiral trajectory is carried out based on the scheme. Simulation results show the validity of the scheme.