Visual feedback control of a robot in an unknown environment (learning control using neural networks)

Nan-Feng, Xiao and Nahavandi, Saeid 2004, Visual feedback control of a robot in an unknown environment (learning control using neural networks), International journal of advanced manufacturing technology, vol. 24, no. 7-8, pp. 509-516, doi: 10.1007/s00170-003-1585-2.

Attached Files
Name Description MIMEType Size Downloads

Title Visual feedback control of a robot in an unknown environment (learning control using neural networks)
Author(s) Nan-Feng, Xiao
Nahavandi, SaeidORCID iD for Nahavandi, Saeid orcid.org/0000-0002-0360-5270
Journal name International journal of advanced manufacturing technology
Volume number 24
Issue number 7-8
Start page 509
End page 516
Publisher Springer London
Place of publication London, England
Publication date 2004-10
ISSN 0268-3768
1433-3015
Keyword(s) computer vision
image processing
neural network
robot control
visual servoing
Summary In this paper, a visual feedback control approach based on neural networks is presented for a robot with a camera installed on its end-effector to trace an object in an unknown environment. First, the one-to-one mapping relations between the image feature domain of the object to the joint angle domain of the robot are derived. Second, a method is proposed to generate a desired trajectory of the robot by measuring the image feature parameters of the object. Third, a multilayer neural network is used for off-line learning of the mapping relations so as to produce on-line the reference inputs for the robot. Fourth, a learning controller based on a multilayer neural network is designed for realizing the visual feedback control of the robot. Last, the effectiveness of the present approach is verified by tracing a curved line using a 6-degrees-of-freedom robot with a CCD camera installed on its end-effector. The present approach does not necessitate the tedious calibration of the CCD camera and the complicated coordinate transformations.
Notes SpringerLink Date Wednesday, April 07, 2004
Language eng
DOI 10.1007/s00170-003-1585-2
Field of Research 091007 Manufacturing Robotics and Mechatronics (excl Automotive Mechatronics)
HERDC Research category C1 Refereed article in a scholarly journal
Copyright notice ©Springer
Persistent URL http://hdl.handle.net/10536/DRO/DU:30002811

Connect to link resolver
 
Unless expressly stated otherwise, the copyright for items in DRO is owned by the author, with all rights reserved.

Versions
Version Filter Type
Citation counts: TR Web of Science Citation Count  Cited 3 times in TR Web of Science
Scopus Citation Count Cited 11 times in Scopus
Google Scholar Search Google Scholar
Access Statistics: 927 Abstract Views, 0 File Downloads  -  Detailed Statistics
Created: Mon, 07 Jul 2008, 08:35:08 EST

Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au.