Forward model creation for visual servoing in a six link manipulator

Forward model creation for visual servoing in a six link manipulator

This paper shows the utility of a forward model for improving the visual servoing performance of a robotic manipulator. Following a developmental robotics approach, the manipulator undergoes a motor babbling phase which is used to create a forward model using an ANFIS neural network. The forward mod...

Full description

Saved in:
Bibliographic Details
Main Authors: Pinpin, Lord Kenneth M., Gamarra, Daniel Fernando Tello, Laschi, Cecilia, Dario, Paolo
Format: text
Published: Animo Repository 2008
Subjects:
Robots—Control systems
Manipulators (Mechanism)
Robotics
Online Access:https://animorepository.dlsu.edu.ph/faculty_research/12802
Tags: Add Tag
No Tags, Be the first to tag this record!
Institution: De La Salle University
id oai:animorepository.dlsu.edu.ph:faculty_research-14704
record_format eprints
spelling oai:animorepository.dlsu.edu.ph:faculty_research-147042024-07-29T05:56:45Z Forward model creation for visual servoing in a six link manipulator Pinpin, Lord Kenneth M. Gamarra, Daniel Fernando Tello Laschi, Cecilia Dario, Paolo This paper shows the utility of a forward model for improving the visual servoing performance of a robotic manipulator. Following a developmental robotics approach, the manipulator undergoes a motor babbling phase which is used to create a forward model using an ANFIS neural network. The forward model maps the relationship between the joint positions and the image of the end effector in two camera views. Using the obtained forward model, an initial image Jacobian is estimated and is used with a visual servoing controller. Simulation results demonstrate that errors are significantly lower when the estimated Jacobian is used. 2008-10-01T07:00:00Z text https://animorepository.dlsu.edu.ph/faculty_research/12802 Faculty Research Work Animo Repository Robots—Control systems Manipulators (Mechanism) Robotics
institution De La Salle University
building De La Salle University Library
continent Asia
country Philippines
Philippines
content_provider De La Salle University Library
collection DLSU Institutional Repository
topic Robots—Control systems
Manipulators (Mechanism)
Robotics
spellingShingle Robots—Control systems
Manipulators (Mechanism)
Robotics
Pinpin, Lord Kenneth M.
Gamarra, Daniel Fernando Tello
Laschi, Cecilia
Dario, Paolo
Forward model creation for visual servoing in a six link manipulator
description This paper shows the utility of a forward model for improving the visual servoing performance of a robotic manipulator. Following a developmental robotics approach, the manipulator undergoes a motor babbling phase which is used to create a forward model using an ANFIS neural network. The forward model maps the relationship between the joint positions and the image of the end effector in two camera views. Using the obtained forward model, an initial image Jacobian is estimated and is used with a visual servoing controller. Simulation results demonstrate that errors are significantly lower when the estimated Jacobian is used.
format text
author Pinpin, Lord Kenneth M.
Gamarra, Daniel Fernando Tello
Laschi, Cecilia
Dario, Paolo
author_facet Pinpin, Lord Kenneth M.
Gamarra, Daniel Fernando Tello
Laschi, Cecilia
Dario, Paolo
author_sort Pinpin, Lord Kenneth M.
title Forward model creation for visual servoing in a six link manipulator
title_short Forward model creation for visual servoing in a six link manipulator
title_full Forward model creation for visual servoing in a six link manipulator
title_fullStr Forward model creation for visual servoing in a six link manipulator
title_full_unstemmed Forward model creation for visual servoing in a six link manipulator
title_sort forward model creation for visual servoing in a six link manipulator
publisher Animo Repository
publishDate 2008
url https://animorepository.dlsu.edu.ph/faculty_research/12802
_version_ 1806511034249248768

Similar Items