Title :
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
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;
Conference_Titel :
Systems, Man, and Cybernetics, 1997. Computational Cybernetics and Simulation., 1997 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-4053-1
DOI :
10.1109/ICSMC.1997.633195
