Zhong, Xungao and Zhong, Xunyu and Hu, Huosheng and Peng, Xiafu (2019) Adaptive Neuro-Filtering Based Visual Servo Control of a Robotic Manipulator. IEEE Access, 7. pp. 76891-76901. DOI https://doi.org/10.1109/access.2019.2920941
Zhong, Xungao and Zhong, Xunyu and Hu, Huosheng and Peng, Xiafu (2019) Adaptive Neuro-Filtering Based Visual Servo Control of a Robotic Manipulator. IEEE Access, 7. pp. 76891-76901. DOI https://doi.org/10.1109/access.2019.2920941
Zhong, Xungao and Zhong, Xunyu and Hu, Huosheng and Peng, Xiafu (2019) Adaptive Neuro-Filtering Based Visual Servo Control of a Robotic Manipulator. IEEE Access, 7. pp. 76891-76901. DOI https://doi.org/10.1109/access.2019.2920941
Abstract
This paper focuses on the solutions to flexibly regulate robotic by vision. A new visual servoing technique based on the Kalman filtering (KF) combined neural network (NN) is developed, which need not have any calibration parameters of robotic system. The statistic knowledge of the system noise and observation noise are first given by Gaussian white noise sequences, the nonlinear mapping between robotic vision and motor spaces are then on-line identified using standard Kalman recursive equations. In real robotic workshops, the perfect statistic knowledge of the noise is not easy to be derived, thus an adaptive neuro-filtering approach based on KF is also studied for mapping on-line estimation in this paper. The Kalman recursive equations are improved by a feedforward NN, in which the neural estimator dynamic adjusts its weights to minimize estimation error of robotic vision-motor mapping, without the knowledge of noise variances. Finally, the proposed visual servoing based on adaptive neuro-filtering has been successfully implemented in robotic pose regulation, and the experimental results demonstrate its validity and practicality for a six-degree-of-freedom (DOF) robotic system which the hand-eye without calibrated.
Item Type: | Article |
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Uncontrolled Keywords: | Robotics regulation; visual servo control; mapping estimation; adaptive filtering; neural network |
Divisions: | Faculty of Science and Health Faculty of Science and Health > Computer Science and Electronic Engineering, School of |
SWORD Depositor: | Unnamed user with email elements@essex.ac.uk |
Depositing User: | Unnamed user with email elements@essex.ac.uk |
Date Deposited: | 04 Feb 2021 14:23 |
Last Modified: | 30 Oct 2024 17:00 |
URI: | http://repository.essex.ac.uk/id/eprint/27649 |
Available files
Filename: IEEE-Access-V7-2019-76891-76901.pdf
Licence: Creative Commons: Attribution 3.0