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Alternative TitleDesign of Robotic Visual Servo Controll Based on Neural Network
谢冬梅; 曲道奎; 徐方
Source Publication微计算机信息
Contribution Rank1
Funding Organization中科院知识创新工程重大项目KGCX-SW-15
Keyword视觉伺服 图像雅可比矩阵 逆雅可比矩阵 Bp神经网络 视觉控制器
Other AbstractVisual servo system can be used in the control systems of robot original orientation guiding, obstacle avoiding, trajectory tracking and moving object tracking, etc. During working, the traditional visual servo system consists of two processes: determination of the workpiece position and inverse kinetic calculation. So real- time computation of visual Jacobian and inverse Jacobian of the robot have been needed. Both the computation and the structure of the system are complex. In this paper, the basic principle of robot visual servo system is analyzed. A BP neural network is proposed to determine the required joint angles for the set position and orientation. This method can integrate visual data directly into the servo process, so under the condition that the servo precision is ensured, the computation of the control arithmetic is greatly simplified. The simulation experiment for Puma560 robot is made and simulation results proved the effectiveness of the method.
Document Type期刊论文
Corresponding Author谢冬梅
Recommended Citation
GB/T 7714
谢冬梅,曲道奎,徐方. 基于神经网络的机器人视觉伺服控制[J]. 微计算机信息,2006,22(4):4-6,274.
APA 谢冬梅,曲道奎,&徐方.(2006).基于神经网络的机器人视觉伺服控制.微计算机信息,22(4),4-6,274.
MLA 谢冬梅,et al."基于神经网络的机器人视觉伺服控制".微计算机信息 22.4(2006):4-6,274.
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