Image-based direct path planning for a visual servo robot

First, the image Jacobian matrix (IJM) for GRB-400 robot was established. Then an augmented design plant model was formed using the GRB-400 plant model and the inverse IJM. And then a control algorithm was applied to the augmented design plant to form a steady visual servo motion feedback control system. The main effort was made to develop a new nonlinear strategy of direct path planning for the robot, which is a new hybrid-coding genetic algorithm. Using this strategy, a least-energy cost path was designed in a certain timeout, and simulation and experiment results were given.