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...
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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 |