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Conference Paper: Visual servo control with artificial neural network
Title | Visual servo control with artificial neural network |
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Authors | |
Issue Date | 1994 |
Publisher | IEEE. |
Citation | Proceedings of the IEEE International Conference on Industrial Technology, Guangzhou, China, 5-9 December 1994, p. 283-287 How to Cite? |
Abstract | In this paper a robotic manipulator system is presented, which uses visual feedback to control both the position and orientation of the manipulator. In this system, visual data from the camera are directly used in the servo control process of the manipulator, without calculations of the inverse kinematics. This approach is achieved by the use of an artificial neural network (ANN) to learn the relationship between the position and the orientation of the manipulator and the joint angles. As there are no pre-stored parameters of the manipulator, the system is adaptable to slight changes in the kinematics of the manipulator or the working environment. Hence, this technique should able to extend the application of robotic technology in some special industrial areas. The results of computer simulations of this system are also presented in the paper. |
Persistent Identifier | http://hdl.handle.net/10722/46305 |
DC Field | Value | Language |
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dc.contributor.author | Chan, CC | en_HK |
dc.contributor.author | Lo, EWC | en_HK |
dc.date.accessioned | 2007-10-30T06:46:57Z | - |
dc.date.available | 2007-10-30T06:46:57Z | - |
dc.date.issued | 1994 | en_HK |
dc.identifier.citation | Proceedings of the IEEE International Conference on Industrial Technology, Guangzhou, China, 5-9 December 1994, p. 283-287 | en_HK |
dc.identifier.uri | http://hdl.handle.net/10722/46305 | - |
dc.description.abstract | In this paper a robotic manipulator system is presented, which uses visual feedback to control both the position and orientation of the manipulator. In this system, visual data from the camera are directly used in the servo control process of the manipulator, without calculations of the inverse kinematics. This approach is achieved by the use of an artificial neural network (ANN) to learn the relationship between the position and the orientation of the manipulator and the joint angles. As there are no pre-stored parameters of the manipulator, the system is adaptable to slight changes in the kinematics of the manipulator or the working environment. Hence, this technique should able to extend the application of robotic technology in some special industrial areas. The results of computer simulations of this system are also presented in the paper. | en_HK |
dc.format.extent | 355847 bytes | - |
dc.format.extent | 2902 bytes | - |
dc.format.mimetype | application/pdf | - |
dc.format.mimetype | text/plain | - |
dc.language | eng | en_HK |
dc.publisher | IEEE. | en_HK |
dc.rights | ©1994 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. | - |
dc.title | Visual servo control with artificial neural network | en_HK |
dc.type | Conference_Paper | en_HK |
dc.description.nature | published_or_final_version | en_HK |
dc.identifier.doi | 10.1109/ICIT.1994.467112 | en_HK |
dc.identifier.hkuros | 7070 | - |