퍼지 신경망에 의한 로보트의 시각구동

Visual servoing of robot manipulator by fuzzy membership function based neural network

It is shown that there exists a nonlinear mappping which transforms features and their changes to the desired camera motion without measurement of the relative distance between the camera and the part, and the nonlinear mapping can eliminate several difficulties encountered when using the inverse of the feature Jacobian as in the usual feature-based visual feedback controls. And instead of analytically deriving the closed form of such a nonlinear mapping, a fuzzy membership function (FMF) based neural network is then proposed to approximate the nonlinear mapping, where the structure of proposed networks is similar to that of radial basis function neural network which is known to be very useful in function approximations. The proposed FMF network is trained to be capable of tracking moving parts in the whole work space along the line of sight. For the effective implementation of proposed IMF networks, an image feature selection processing is investigated, and required fuzzy membership functions are designed. Finally, several numerical examples are illustrated to show the validities of our proposed visual servoing method.