지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 대한전기학회 International Journal of Control Automation and Systems International Journal of Control Automation and System Vol.6 No.4
- 발행연도
- 2008.8
- 수록면
- 607 - 612 (6page)
이용수
초록· 키워드
오류제보하기
This paper proposes a robot visual servo approach based on image appearance and a wavelet function neural network. The inputs of the wavelet neural network are changes of image features or the elements of image appearance vector, and the outputs are changes of robot joint angles. Image appearance vector is calculated by using eigen subspace transform algorithm. The proposed approach does not need a priori knowledge of the robot kinematics, hand-eye geometry and camera models. The experiment results on a real robot system show that the proposed method is practical and simple.
목차
Abstract
1. INTRODUCTION
2. SEVERAL PROBLEMS
3. ROBOT VISUAL SERVO VIA A WAVELET NEURAL NETWORK
4. EXPERIMENT RESULTS
5. CONCLUSION
REFERENCES
참고문헌 (18)
참고문헌 신청
W. T. Miller , 1987 , Sensor based control of robotic manipulators using a general learning algo-rithm , IEEE Journal of Robotics Automation 3 (2) : 157 ~ 165
R. M. Martinetz , 1990 , Three-dimensional neural net for learning visuo-motor coordination of a robot arm , IEEE Trans. on Neural Networks 1 : 131 ~ 136
J. A. Walter , 1993 , Implementation of self-organizing neural networks for visuo-motor control of an industrial robot , IEEE Trans. on Neural Networks 4 : 86 ~ 95
K. Hashimoto , 1991 , Manipulator control with image-based visual servo , Proc. of IEEE Conf. Robotics and Automation : 2267 ~ 2272
M. Rosenblum , 1996 , An improved radial basis function network for visual autonomous road following , IEEE Trans. on Neural Networks 7 : 1111 ~ 1120
R. M. Martinetz , 1990 , Three-dimensional neural net for learning visuo-motor coordination of a robot arm , IEEE Trans. on Neural Networks 1 : 131 ~ 136
J. A. Walter , 1993 , Implementation of self-organizing neural networks for visuo-motor control of an industrial robot , IEEE Trans. on Neural Networks 4 : 86 ~ 95
K. Hashimoto , 1991 , Manipulator control with image-based visual servo , Proc. of IEEE Conf. Robotics and Automation : 2267 ~ 2272
M. Rosenblum , 1996 , An improved radial basis function network for visual autonomous road following , IEEE Trans. on Neural Networks 7 : 1111 ~ 1120
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UCI(KEPA) : I410-ECN-0101-2010-560-001924201