Skip to main content
SpringerLink
Log in

Full-DOF Calibration-Free Robotic Hand-Eye Coordination Based on Fuzzy Neural Network

  • Conference paper
Advances in Neural Networks - ISNN 2004 (ISNN 2004)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 3174))

Included in the following conference series:

Abstract

This paper studies coordination control for an uncalibrated single eye-in-hand robotic system to track an object in 3-D space with simultaneous translations and rotations. A set of object features is properly defined to derive an invertible nonlinear visual mapping model from visual feedback to robot control. A novel fuzzy neural network is proposed to realize the nonlinear mapping model effectively, which is essential to implement six-degree-of-freedom control of robot hand. Simulation results show the performance of the proposed method.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 84.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 109.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Feddema, J.T., Lee, C.S.G.: Adaptive Image Feature Prediction and Control for Visual Tracking with a Hand-Eye Coordinated Camera. IEEE Trans. S.M.C. 20, 1172–1183 (1990)

    Article  Google Scholar 

  2. Yoshimi, B.H., Allen, P.K.: Alignment Using an Uncalibrated Camera System. IEEE Trans. Robot. Automat. 11, 516–521 (1995)

    Article  Google Scholar 

  3. Hespanha, J., Dodds, Z., Hager, G.D., Morse, A.S.: What Can Be Done with an Uncalibrated Stereo Systems? In: Proc. 1998 IEEE Inter. Conf. on Robot. Automat., pp. 1366–1372 (1998)

    Google Scholar 

  4. Sutanto, H., Sharma, R., Varma, V.: Image Based Autodocking without Calibration. In: Proc. 1997 IEEE Inter. Conf. on Robot. Automat., pp. 974–979 (1997)

    Google Scholar 

  5. Su, J.B., Xi, Y.G., Hanebeck, U.D., Schmidt, G.: Nonlinear Visual Mapping Model for 3-D Visual Tracking with Uncalibrated Eye-in-Hand Robotic System. IEEE Trans. System, Man and Cybernetics, Part B 34, 652–659 (2004)

    Article  Google Scholar 

  6. Hashimoto, H., Kubota, T., Sato, M., Hurashima, F.: Visual Control of Robotic Manipulator Based on Neural Networks. IEEE Trans. on Industrial Electronics 39, 490–496 (1992)

    Article  Google Scholar 

  7. Sharma, R., Srinivasa, N.: A Framework for Active Vision-Based Robot Control Using Neural Networks. Robotica 16, 309–327 (1998)

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Automation, Shanghai Jiaotong University, Shanghai, 200030, China

    Jianbo Su & Qielu Pan

  2. Bio-Mimetic Control Research Center, RIKEN, Anagahora, Shimoshidami, Moriyama-ku, Nagoya, 463-0003, Japan

    Jianbo Su & Zhiwei Luo

Authors
  1. Jianbo Su
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Qielu Pan
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Zhiwei Luo
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. School of Electronic and Information Engineering, Dalian University of Technology, 116023, Dalian, China

    Fu-Liang Yin

  2. Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, New Territories, Hong Kong, China

    Jun Wang

  3. School of Electronic and Information Engineering, Dalian University of Technology, 116023, Dalian, Liaoning, China

    Chengan Guo

Rights and permissions

Reprints and permissions

Copyright information

© 2004 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Su, J., Pan, Q., Luo, Z. (2004). Full-DOF Calibration-Free Robotic Hand-Eye Coordination Based on Fuzzy Neural Network. In: Yin, FL., Wang, J., Guo, C. (eds) Advances in Neural Networks - ISNN 2004. ISNN 2004. Lecture Notes in Computer Science, vol 3174. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-28648-6_2

Download citation

  • DOI: https://doi.org/10.1007/978-3-540-28648-6_2

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-22843-1

  • Online ISBN: 978-3-540-28648-6

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics

Search

Navigation