The invention discloses a robot vision
servo control method based on the image mixing moment. Firstly, construction of mixing moment features in one-to-one correspondence with space attitudes after target object imaging under the
robot expected
pose is given; and then a target object image is obtained under any attitude, the current mixing moment feature
information value is calculated, the deviation of the mixing moment feature value is calculated according to information of an expected image and information of the current image, if the deviation is smaller than the preset threshold value, itis shown that the
robot achieves the expected
pose, if the deviation is not smaller than the threshold value, an image jacobian matrix relevant to the mixing moment features is deducted, a vision
servo robot is used so that the robot can move towards the expected
pose till the
feather deviation is smaller than the preset threshold value, and the control process is over. By means of the
robot vision servo control method, the
image field mixing moment feature corresponding to the space movement track of the robot is introduced in to serve as the control input, vision
servo control of a eye-in-hand robot
system under the
working space model unknown circumstance is completed, and the method can be widely applied to robot
intelligent control based on
machine vision.