Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2009.15.7.694

Neural Network Compensation for Improvement of Real-Time Moving Object Tracking Performance of the ROBOKER Head with a Virtual Link  

Kim, Dong-Min (충남대학교 지능로봇시스템)
Choi, Ho-Jin (충남대학교 지능로봇시스템)
Lee, Geun-Hyung (충남대학교 지능로봇시스템)
Jung, Seul (충남대학교 지능로봇시스템)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.15, no.7, 2009 , pp. 694-699 More about this Journal
Abstract
This paper presents the implementation of the real-time object tracking control of the ROBOKER head. The visual servoing technique is used to track the moving object, but suffers from ill-estimated Jacobian of the virtual link design. To improve the tracking performance, the RBF(Radial Basis Function) network is used to compensate for uncertainties in the kinematics of the robot head in on-line fashion. The reference compensation technique is employed as a neural network control scheme. Performances of three schemes, the kinematic based scheme, the Jacobian based scheme, and the neural network compensation scheme are verified by experimental studies. The neural compensation scheme performs best.
Keywords
object tracking; RBF network; visual servoing method; RCT scheme; virtual link;
Citations & Related Records
연도 인용수 순위
  • Reference
1 D. M. Kim, H. J. Choi, J. S. Kim, W. K. Lee, D. H. Song, and S. Jung, 'Tracking control of a moving object for Robokers with stereo visual feedback,' IEEE ICIT, pp. 52-57, 2007   DOI
2 S. Jung and T. C. Hsia, 'Neural network compensation technique for Cartesian position control of robot manipulators with vision feedback,' International Conference on Advanced Robotics, pp. 993-998, 2007
3 정슬, 로봇공학, 충남대 출판부, 2007
4 S. Hutchinson, G. D. Hager, and P. I. Corke, 'A tutorial on visual servo control,' IEEE Trans. on Robotics and Automations, vol. 12, no. 5, pp. 651-670, 1996   DOI   ScienceOn
5 F. Chaumette and S. Hutchinson, 'Visual servo control part I:Basic approaches,' IEEE Robotics and Automations Magazine,pp. 82-90, Dec. 2006
6 Y. Shen, D. Sun, Y. H. Liu, and K. Li, 'Asymtotic trajectory tracking of manipulators using uncalibrated visual feedback,' IEEE Trans. on Mechatronics, vol. 8, no. 1, pp. 87-98,2003   DOI   ScienceOn
7 K. Hashimoto, T Kimoto, T, Ebine, and H. Kimura, 'Manipulator control with image-based visual servo,' lEEE Conf. On Robotics andAutomations., pp. 2267-2272. 1991
8 Q. M. Wu and K Staley, 'Modular neural-visual servoing using a neural-fuzzy decision network,' IEEE Conf on Robotics and Automations, pp. 3238-3243, 1997   DOI
9 S. H. Han, W. H. Seo, J. Lee, M. H. Lee, and H. Hashimoto, 'Image-based visual servoing control of a SCARA type dualann robot,' International Symposium on Industrial Electronics, pp. 517-522,2002
10 P. J. Goncalves, L. F. Mendonca, J. M. Sousa, and J. R. Pinto, 'Improving visual servoing using fuzzy filters,' FUZZ-IEEE, pp.1185-1190,2004