The-Application-of-Servo-Control-Technology-in-Robot-Positioning-and-Tracking-System-via-Heuristic-Algorithm

Abstract

Based on the visual servo technology, this paper focuses on the visual tracking algorithm of moving objects and the dynamic grasping control method of robots, and realizes the automatic loading and unloading of moving workpieces to improve production efficiency. Firstly, aiming at the difficulties in the selection of high-dimensional features extracted by visual servo, this paper proposes a training method of generation countermeasure network based on heuristic algorithm by using the efficient search ability of heuristic algorithm. Secondly, we use image processing technology to realize real-time recognition and location of workpieces under complex background. According to the positioning results, an adaptive dual rate unscented Kalman filter visual tracking algorithm is proposed to solve the problem of delay and multi sampling rate in visual servo, and realize visual tracking of moving objects. The experimental results show that the proposed visual tracking algorithm has better stability and real-time performance.