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.

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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
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
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
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