NeuroModule-based visual servoing of a robot arm with a 2 d.o.f. camera

Author

Urban, J.P. ; Buessler, J.L. ; Wira, P.

Author_Institution

Fac. des Sci. et Tech., Univ. de Haute-Alsace, Mulhouse, France

Volume

4

fYear

1997

fDate

12-15 Oct 1997

Firstpage

3507

Abstract

The paper illustrates the chaining of neural nework 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 dof planar arm using a single 2 dof pan tilt camera

Keywords

active vision; neurocontrollers; path planning; self-organising feature maps; servomechanisms; 2 dof pan tilt camera; 2 dof planar arm; NeuroModule based visual servoing; arm movement control; camera orientation; feedback control precision; neural nework bused self adapting module chaining; robot arm; robot manipulator; serially chained NeuroModules; visual features; visual servoing; Automatic control; Cameras; Control systems; Machine vision; Mobile robots; Orbital robotics; Robot sensing systems; Robot vision systems; Robotics and automation; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1997. Computational Cybernetics and Simulation., 1997 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1062-922X

Print_ISBN

0-7803-4053-1

Type

conf

DOI

10.1109/ICSMC.1997.633195

Filename

633195