An Innovative Structure for Robot Vision Tracking Using an Artificial Intelligent Control Scheme

摘要：

Now most applications of vision guided robotic systems are in workspaces where the environments are strictly controlled. The vision system and the manipulator should be precisely calibrated before the system working. In this paper, a control structure combining an active vision system and a manipulator is proposed to simulate the mechanism of human grasping a target. The binocular active eyes track the target and using inner sensors to simulate humans proprioceptor and give the information of the target pose relative to the arm-the manipulator. A kind of multistage fuzzy-neuro control strategy is adopted. The advantage of this method is that it can reduce the fuzzy rules number greatly. The simulations show that the system is stable and robust.

作者: Yi Fazhen Hu Hengzhang Hu Zhenkun

作者单位: Dept. of Control Science and Engineering, Harbin Institute of Technology

会议类型: 国际会议

会议名称: 2007国际导航制导控制学术会议

会议地点: 北京

会议语种:英文

页码: 426-430

在线出版日期: 2007-11-04（万方平台首次上网日期，不代表论文的发表时间）