Forward model creation for visual servoing in a six link manipulator

• 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
• Institution: De La Salle University

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...