Visual servo tracking method for robotic arm, device, medium, product, and robot

A robot, comprising:

• a robot body, a visual sensor, a linear parameter time-varying predictive controller, and an incremental predictive controller, wherein
• the visual sensor, the linear parameter time-varying predictive controller, and the incremental predictive controller are all provided on the robot body;
• the visual sensor is connected to the linear parameter time-varying predictive controller;
• the linear parameter time-varying predictive controller is connected to the incremental predictive controller;
• and the linear parameter time-varying predictive controller and the incremental predictive controller are integrated into an intelligent control unit of the robot body;
• and
• the visual sensor is configured to obtain a target position in real time to generate target position data;
• the linear parameter time-varying predictive controller is equipped with a position prediction model and is configured to:
• generate a predicted value of the target position based on the target position data by using the position prediction model, and correct the predicted value of the target position based on real-time feedback of target movement to obtain a predicted target position;
• the position prediction model is constructed by using a controlled autoregressive integrated moving average (CARIMA) model;
• and the incremental predictive controller is configured to adjust a motion trajectory of a robotic arm based on an error between the predicted target position and a current target position of the robotic arm.