An experimental testbed for intelligent control

Author

Bishop, Brad ; Shirkey, Paul ; Spong, Mark W.

Author_Institution

Coordinated Sci. Lab., Illinois Univ., Urbana, IL, USA

Volume

2

fYear

1995

fDate

21-23 Jun 1995

Firstpage

1328

Abstract

In this paper we discuss the development of an experimental testbed for research in intelligent robotic systems. Our system, an air hockey playing robot, consists of a direct drive robot arm, DSP controller, DataCube vision system, CCD camera and air table, is an excellent vehicle to facilitate our research in the integration of machine learning with nonlinear and adaptive control theory and real-time visual servoing. As a first application we present a new result on adaptive visual servoing with online calibration for this system

Keywords

CCD image sensors; adaptive control; computer vision; digital signal processing chips; intelligent control; learning (artificial intelligence); microcontrollers; nonlinear control systems; robots; test facilities; CCD camera; DSP controller; DataCube vision system; adaptive control theory; adaptive visual servoing; air hockey playing robot; air table; direct drive robot arm; experimental testbed; intelligent control; intelligent robotic systems; machine learning; nonlinear control theory; real-time visual servoing; Digital signal processing; Intelligent control; Intelligent robots; Intelligent systems; Learning systems; Nonlinear control systems; Robot control; Robot vision systems; System testing; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, Proceedings of the 1995

Conference_Location

Seattle, WA

Print_ISBN

0-7803-2445-5

Type

conf

DOI

10.1109/ACC.1995.520966

Filename

520966