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NeuroModule-based visual servoing of a robot arm with a 2 dof camera
被引：0
作者：
Urban, JP
Buessler, JL
Wira, P
机构：
来源：
SMC '97 CONFERENCE PROCEEDINGS - 1997 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-5: CONFERENCE THEME: COMPUTATIONAL CYBERNETICS AND SIMULATION
|
1997年
关键词：
neural modules;
robotics;
visual servoing;
self-organizing maps;
D O I：
暂无
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper illustrates the chaining of neural network bused self-adapting modules for the visual servoing of a robot manipulator. Arm movements are controlled using visual features. Camera orientation is also controlled to increase the feedback control precision. In this case it proves to be efficient to chain two NeuroModules in sequence. We propose an algorithm to adapt online and simultaneously two serially chained NeuroModules. The approach is applied to the control of a 2 d.o.f. planar arm using a single 2 d.o.f. pan-tilt camera.
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收藏
页码：3507 / 3512
页数：6
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