| 基于模糊神经网络的无标定全自由度手眼协调 |
| |
| 引用本文： | 苏剑波.基于模糊神经网络的无标定全自由度手眼协调[J].华中科技大学学报(自然科学版),2004(Z1). |
| |
| 作者姓名： | 苏剑波 |
| |
| 作者单位： | 上海交通大学自动化系 上海 |
| |
| 摘 要： | 研究机器人无标定手眼协调控制 .以单眼在手上配置 ,跟踪在三维空间进行平移和旋转的运动目标 .通过恰当定义目标特征 ,实现了机器人手爪 6自由度运动的一一对应控制 ,给出了视觉反馈与机器人控制之间的非线性映射关系 ,以模糊神经网络进行输入输出映射 .仿真证实了控制方法的性能 .
|
| 关 键 词： | 手眼协调 无标定 模糊神经网络 机器人 |
Uncalibrated robotic hand-eye coordination of full- degree-of-freedoms based on fuzzy neural network |
| |
| Su Jianbo Prof., Dept. of Automation,Shanghai Jiaotong Univ.,Shanghai ,China..Uncalibrated robotic hand-eye coordination of full- degree-of-freedoms based on fuzzy neural network[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,2004(Z1). |
| |
| Authors: | Su Jianbo Prof Dept of Automation Shanghai Jiaotong Univ Shanghai China |
| |
| Institution: | Su Jianbo Prof., Dept. of Automation,Shanghai Jiaotong Univ.,Shanghai 200030,China. |
| |
| Abstract: | The six-degree-of-freedom uncalibrated robotic hand-eye coordination is explored under the scenario of monocular visual feedback on hand and a typical 3-D tracking task. A nonlinear visual mapping model from visual feedback to robot control is proposed, with the help of the target model for employing proper features to achieve unique control for the robot hand. The fuzzy neural network is utilized to map the nonlinear visual model effectively. Simulations show the performance of the proposed method. |
| |
| Keywords: | hand-eye coordination uncalibration fuzzy neural network robot |
| 本文献已被 CNKI 维普 等数据库收录！ |
