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
相关论文
共 50 条
  • [21] VISUAL SERVOING CONTROLLER FOR ROBOT MANIPULATORS
    Cid, Jaime
    Reyes, Fernando
    ICINCO 2009: PROCEEDINGS OF THE 6TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 1: INTELLIGENT CONTROL SYSTEMS AND OPTIMIZATION, 2009, : 291 - 297
  • [22] Contribution to legged robot visual servoing
    Echegoyen, Zelmar
    d'Anjou, Alicia
    Grana, Manuel
    KNOWLEDGE-BASED INTELLIGENT INFORMATION AND ENGINEERING SYSTEMS: KES 2007 - WIRN 2007, PT II, PROCEEDINGS, 2007, 4693 : 1179 - 1186
  • [23] Visual Servoing of Robot Manipulator Based on Second Order Sliding Observer and Neural Compensation
    Duc, Tran Minh
    Van Mien
    Kang, Hee-Jun
    Dung, Le Tien
    INTELLIGENT COMPUTING THEORY, 2014, 8588 : 241 - 247
  • [24] Image based fixed time visual servoing control for the quadrotor UAV
    Chen, Jiannan
    Hua, Changchun
    Guan, Xinping
    IET CONTROL THEORY AND APPLICATIONS, 2019, 13 (18) : 3117 - 3123
  • [25] Research of Mobile Robot Path Planning Based on Genetic Algorithm
    Zhang, Jian
    PROCEEDINGS OF THE 2ND INFORMATION TECHNOLOGY AND MECHATRONICS ENGINEERING CONFERENCE (ITOEC 2016), 2016, 24 : 354 - 360
  • [26] A real-time genetic algorithm in human-robot musical improvisation
    Weinberg, Gil
    Godfrey, Mark
    Rae, Alex
    Rhoads, John
    COMPUTER MUSIC MODELING AND RETRIEVAL: SENSE OF SOUNDS, 2008, 4969 : 351 - 359
  • [27] FPGA-based Framework for Dynamic Visual Servoing of Robot Manipulators
    Alabdo, A.
    Perez, J.
    Pomares, J.
    Garcia, G. J.
    Torres, F.
    PROCEEDINGS OF 2015 IEEE 20TH CONFERENCE ON EMERGING TECHNOLOGIES & FACTORY AUTOMATION (ETFA), 2015,
  • [28] Optimal control law of robot based on delta operator in visual servoing
    Li, HG
    Zhu, XD
    Wang, PS
    PROCEEDINGS OF THE 2004 INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND CYBERNETICS, VOLS 1-7, 2004, : 533 - 537
  • [29] A visual servoing control for robot based on fuzzy behavior and neural networks
    Liu, Xiaoyu
    Fang, Kangling
    2006 CHINESE CONTROL CONFERENCE, VOLS 1-5, 2006, : 709 - +
  • [30] Predictive control strategy for image based visual servoing of robot manipulators
    Lazar, Corneliu
    Burlacu, Adrian
    PROCEEDINGS OF THE 9TH WSEAS INTERNATIONAL CONFERENCE ON AUTOMATION AND INFORMATION, 2008, : 91 - +
12345