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Conference Paper: Visual servo control with artificial neural network

TitleVisual servo control with artificial neural network
Authors
Issue Date1994
PublisherIEEE.
Citation
Proceedings of the IEEE International Conference on Industrial Technology, Guangzhou, China, 5-9 December 1994, p. 283-287 How to Cite?
AbstractIn 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 Identifierhttp://hdl.handle.net/10722/46305

 

DC FieldValueLanguage
dc.contributor.authorChan, CCen_HK
dc.contributor.authorLo, EWCen_HK
dc.date.accessioned2007-10-30T06:46:57Z-
dc.date.available2007-10-30T06:46:57Z-
dc.date.issued1994en_HK
dc.identifier.citationProceedings of the IEEE International Conference on Industrial Technology, Guangzhou, China, 5-9 December 1994, p. 283-287en_HK
dc.identifier.urihttp://hdl.handle.net/10722/46305-
dc.description.abstractIn 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.extent355847 bytes-
dc.format.extent2902 bytes-
dc.format.mimetypeapplication/pdf-
dc.format.mimetypetext/plain-
dc.languageengen_HK
dc.publisherIEEE.en_HK
dc.rightsCreative Commons: Attribution 3.0 Hong Kong License-
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.en_HK
dc.titleVisual servo control with artificial neural networken_HK
dc.typeConference_Paperen_HK
dc.description.naturepublished_or_final_versionen_HK
dc.identifier.doi10.1109/ICIT.1994.467112en_HK
dc.identifier.hkuros7070-

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