An Advanced Control Method of Manipulator Based on Visual Servo Control

At present, because of the shortcomings of traditional visual servo control methods, such as slow convergence speed and camera calibration, an advanced visual servo control method is based on the combination of fuzzy logic and Kalman filter, which is proposed in the paper. In the control method, Kalman filter algorithm is used to estimate image Jacobian matrix online, and fuzzy logic control algorithm is used to design variable control coefficient instead of traditional fixed control coefficient, which not only reduces convergence time of visual servo control system, but also avoids complex phase machine calibration, saves a lot of time, and improves work efficiency. Finally, the effectiveness and superiority of the proposed control method are verified by experiment simulation.