Research of real time robot visual servoing based on genetic algorithm

被引：0

作者：

Liu, H ^{[1
]}

Liu, D ^{[1
]}

Yang, YX ^{[1
]}

机构：

[1] Xian Univ Technol, Sch Automat & Informat Engn, Xian, Peoples R China

来源：

2002 INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND CYBERNETICS, VOLS 1-4, PROCEEDINGS | 2002年

关键词：

visual servoing; genetic algorithm; pattern matching; stability;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a position-based approach to visual servoing and pose estimation for an unknown target where a robot manipulator works in look-and-move mode to reach the object. This approach employs step genetic algorithm (denoted by Step-GA) and a pattern matching technique to search for target object in robot task space. A GA-based controller is presented and stability proof is given. Simulation results performed on a two-link robot manipulator show that manipulator hand can reach the object and search for an unknown target quickly. It is proven that this approach can be used in real-time control of a manipulator to pick up an object whose position and orientation are not known previously.

引用

页码：87 / 90

页数：4

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