Direct Path Planning for Visual Servo Robot

The Jacobin matrix for images of a GRB-400 visual servo robot was derived. A controlalgorithm was designed to achieve a stable control strategy for dynamic double-loop feedback motioncontrol of the visual servo robot. Adirectplanar path planning method for the robotwas proposed based on the combination of steepest descent method and punishment function method to solve the least-energy cost path planning problem with time constraint. Simulation and experiment results show that the robot can determine an optimal path by applying the proposed method whenever objects or obstaclesare within the visual scope of the robot.