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Asymptotically stable visual servoing of manipulators via neural networks

2000; Wiley; Volume: 17; Issue: 12 Linguagem: Inglês

10.1002/1097-4563(200012)17

1097-4563

Rafael Kelly, Jesús Favela, Juan M. Ibarra, Danilo Bassi,

Optical measurement and interference techniques

Journal of Robotic SystemsVolume 17, Issue 12 p. 659-669 Asymptotically stable visual servoing of manipulators via neural networks Rafael Kelly, Corresponding Author Rafael Kelly [email protected] División de Física Aplicada, CICESE, A.P. 2615, Adm. 1, 22800 Ensenada, B.C., MexicoDivisión de Física Aplicada, CICESE, A.P. 2615, Adm. 1, 22800 Ensenada, B.C., MexicoSearch for more papers by this authorJesús Favela, Jesús Favela División de Física Aplicada, CICESE, A.P. 2615, Adm. 1, 22800 Ensenada, B.C., MexicoSearch for more papers by this authorJuan M. Ibarra, Juan M. Ibarra [email protected] Laboratorio de Robótica y Visión, Dept. de Control Automático, Cinvestav-IPN, A.P. 14-740, 07000 México D.F., MexicoSearch for more papers by this authorDanilo Bassi, Danilo Bassi [email protected] Departamento de Ingeniería Informática, Universidad de Santiago de Chile, Av. Ecuador 3659, Santiago de Chile, ChileSearch for more papers by this author Rafael Kelly, Corresponding Author Rafael Kelly [email protected] División de Física Aplicada, CICESE, A.P. 2615, Adm. 1, 22800 Ensenada, B.C., MexicoDivisión de Física Aplicada, CICESE, A.P. 2615, Adm. 1, 22800 Ensenada, B.C., MexicoSearch for more papers by this authorJesús Favela, Jesús Favela División de Física Aplicada, CICESE, A.P. 2615, Adm. 1, 22800 Ensenada, B.C., MexicoSearch for more papers by this authorJuan M. Ibarra, Juan M. Ibarra [email protected] Laboratorio de Robótica y Visión, Dept. de Control Automático, Cinvestav-IPN, A.P. 14-740, 07000 México D.F., MexicoSearch for more papers by this authorDanilo Bassi, Danilo Bassi [email protected] Departamento de Ingeniería Informática, Universidad de Santiago de Chile, Av. Ecuador 3659, Santiago de Chile, ChileSearch for more papers by this author First published: 22 December 2000 https://doi.org/10.1002/1097-4563(200012)17:12 3.0.CO;2-NCitations: 5AboutPDF ToolsRequest permissionExport citationAdd to favoritesTrack citation ShareShare Give accessShare full text accessShare full-text accessPlease review our Terms and Conditions of Use and check box below to share full-text version of article.I have read and accept the Wiley Online Library Terms and Conditions of UseShareable LinkUse the link below to share a full-text version of this article with your friends and colleagues. Learn more.Copy URL Share a linkShare onEmailFacebookTwitterLinkedInRedditWechat Abstract 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 stability result establishes rigorously that in spite of the neural network giving an approximation of these mappings, the closed-loop system including the robot nonlinear dynamics is locally asymptotically stable provided that the Jacobian of the neural network is nonsingular. The feasibility of the proposed neural controller is illustrated through experiments on a planar robot. © 2000 John Wiley & Sons, Inc. References 1 K.I. Funahashi, On the approximate realization of continuous mappings by neural networks, Neural Networks 2 ( 1989), 183–192. 2 K. Hornik, M. Stinchcombe, and H. White, Universal approximation of an unknown mapping and its derivative using multilayer feedforward networks, Neural Networks 3 ( 1990), 551–560. 3 B. Horne, M. Jamashidi, and N. 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