International Journal of Control, Automation, and Systems

  • 제6권4호
  • /
  • Pages.607-612
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  • 2008
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  • 1598-6446(pISSN)
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  • 2005-4092(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

Appearance-based Robot Visual Servo via a Wavelet Neural Network

  • Zhao, Qingjie (Beijing Laboratory of Intelligent Information Technology, School of Computer Science and Technology, Beijing Institute of Technology) ;
  • Sun, Zengqi (Department of Computer Science and Technology, Tsinghua University) ;
  • Sun, Fuchun (Department of Computer Science and Technology, Tsinghua University) ;
  • Zhu, Jihong (Department of Computer Science and Technology, Tsinghua University)
  • 발행 : 2008.08.31
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초록

This paper proposes a robot visual servo approach based on image appearance and a wavelet function neural network. The inputs of the wavelet neural network are changes of image features or the elements of image appearance vector, and the outputs are changes of robot joint angles. Image appearance vector is calculated by using eigen subspace transform algorithm. The proposed approach does not need a priori knowledge of the robot kinematics, hand-eye geometry and camera models. The experiment results on a real robot system show that the proposed method is practical and simple.

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참고문헌

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