A Short Review of Neural Network Techniques in Visual Servoing of Robotic Manipulators

Structure Adaptable Digital Neural Network Techniques in Visual Servoing of Robotic Manipulators

Robotics is one of the most challenging applications of soft computing techniques. It is characterized by direct interaction with a real world, sensory feedback and a complex control system. This paper reviews the application of soft computing approaches, particularly neural networks, in the domain of visual servoing of robotic manipulators. Various robotic tasks within the scope of visual serv...

Neural Network Sensitivity to Inputs and Weights and its Application to Functional Identification of Robotics Manipulators

Neural networks are applied to the system identification problems using adaptive algorithms for either parameter or functional estimation of dynamic systems. In this paper the neural networks' sensitivity to input values and connections' weights, is studied. The Reduction-Sigmoid-Amplification (RSA) neurons are introduced and four different models of neural network architecture are proposed and...

Dynamic Position-Based Visual Servoing of Robotic Manipulators

− This paper discusses dynamic visual servoing and proposes a position-based approach to visual servo control of robotic manipulators. Several dynamic visual servoing control architectures used for position-based are addressed in this paper, in order to motivate the proposed approach. In position-based visual servoing, the features used to control the robot manipulator, actual pose of the objec...

GMDH Type Neural Networks and Their Application to the Identification of the Inverse Kinematics Equations of Robotic Manipulators (RESEARCH NOTE)

Asymptotically stable visual servoing of manipulators via neural networks

In this article we present a class of position control schemes for robot manipulators based on feedback of visual information processed through artificial neural networks. We exploit the approximation capabilities of neural networks to avoid the computation of the robot inverse kinematics as well as the inverse task space camera mapping which involves tedious calibration procedures. Our main st...