Vision-based robotic motion control for non-autonomous environment

Abstract

A visual servo control system with SOPC structure is implemented on a retrofitted Mitsubishi RV-M2 robotic system. The hardware circuit has the functions of quadrature encoder decoding, limit switch detecting, pulse width modulation (PWM) generating and CMOS image signal capturing. The software embedded in Nios II micro processor has the functions of using UART to communicate with PC, robotic inverse kinematics calculation, robotic motion control schemes, digital image processing algorithm and gobang game AI algorithm. A CMOS color image sensor is used to catch the environment time-varying change for robotic vision-based servo control. A gobang game is planned to investigate the implementation problem of the visual servo robotic motion control in non-autonomous environment. A model-free intelligent self-organizing fuzzy control (SOFC) strategy is employed to design the robotic joint controller. A vision based trajectory planning algorithm is designed to calculate the desired angular positions or trajectory of each robotic joint. The experimental results show that this visual servo control robot has reliable control actions.