신경 회로망을 이용한 로보트의 동력학적 시각 서보 제어

Dynamic visual servo control of robotic manipulators using neural networks

An effective visual servo control system for robotic manipulators based on neural networks is proposed. For this control system, firstly, one neural network is used to learn the mapping relationship between the robot's joint space and the video image space. However, in the proposed control scheme, this network is not used in itself, but its first and second derivatives are used to generate servo commands for the robot. Secondly, an adaptive Adaline network is used to identify the dynamics of the robot and also to generate the proper torque commands. Computer simulation has been performed indicating its superior performance. As far as the authors know, this is the first time attempt of the use of neural networks for a visual servo control of robots that compensates for their changing dynamics.