Research of real time robot visual servoing based on genetic algorithm

被引：0
|
作者：
Liu, H [1 ]
Liu, D [1 ]
Yang, YX [1 ]
机构：
[1] Xian Univ Technol, Sch Automat & Informat Engn, Xian, Peoples R China
来源：
2002 INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND CYBERNETICS, VOLS 1-4, PROCEEDINGS | 2002年
关键词：
visual servoing; genetic algorithm; pattern matching; stability;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a position-based approach to visual servoing and pose estimation for an unknown target where a robot manipulator works in look-and-move mode to reach the object. This approach employs step genetic algorithm (denoted by Step-GA) and a pattern matching technique to search for target object in robot task space. A GA-based controller is presented and stability proof is given. Simulation results performed on a two-link robot manipulator show that manipulator hand can reach the object and search for an unknown target quickly. It is proven that this approach can be used in real-time control of a manipulator to pick up an object whose position and orientation are not known previously.
引用
收藏
页码：87 / 90
页数：4
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