제어로봇시스템학회:학술대회논문집
- 1994.10a
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- Pages.566-571
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- 1994
Visual servo control of robots using fuzzy-neural-network
퍼지신경망을 이용한 로보트의 비쥬얼서보제어
Abstract
This paper presents in image-based visual servo control scheme for tracking a workpiece with a hand-eye coordinated robotic system using the fuzzy-neural-network. The goal is to control the relative position and orientation between the end-effector and a moving workpiece using a single camera mounted on the end-effector of robot manipulator. We developed a fuzzy-neural-network that consists of a network-model fuzzy system and supervised learning rules. Fuzzy-neural-network is applied to approximate the nonlinear mapping which transforms the features and theire change into the desired camera motion. In addition a control strategy for real-time relative motion control based on this approximation is presented. Computer simulation results are illustrated to show the effectiveness of the fuzzy-neural-network method for visual servoing of robot manipulator.
Keywords