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Image-based direct path planning for a visual servo robot

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5 Author(s)
Zhang Haibo ; Sch. of Eng. & Technol., Shenzhen Univ., China ; Hu Gang ; Sun Jianguo ; Cao Guangzhong
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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.

Published in:

Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on  (Volume:6 )

Date of Conference:

15-19 June 2004

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