Semi-physical simulation of robot visual servo based on position

For the purpose of robot visual servo researches, a semi-physical simulation platform of robot visual servo based on position was presented. The image acquisition and processing realistic part based on USB is established and the virtual simulation environment and kinematics model are built with OpenGL. By means of ROBOOP toolbox the dynamics model of robot is set up. With forward and inverse kinematics algorithm trajectory planning is realized. The experiment result indicates that the robot can catch the target following planned trajectory and the simulation platform has important value for robot visual servo researches.