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First, the image Jacobian matrix (IJM) for GRB-400 robot was established. Then an augmented design plant model was formed using the GRB-400 plant model and the inverse IJM. And then a control algorithm was applied to the augmented design plant to form a steady visual servo motion feedback control system. The main effort was made to develop a new nonlinear strategy of direct path planning for the robot, which is a new hybrid-coding genetic algorithm. Using this strategy, a least-energy cost path was designed in a certain timeout, and simulation and experiment results were given.
Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on (Volume:6 )
Date of Conference: 15-19 June 2004