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Stable neurovisual servoing for robot manipulators

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2 Author(s)
Loreto, G. ; Autom. Control Dept., CINVESTAV, Mexico City, Mexico ; Garrido, R.

In this paper, we propose a stable neurovisual servoing algorithm for set-point control of planar robot manipulators in a fixed-camera configuration an show that all the closed-loop signals are uniformly ultimately bounded (UUB) and converge exponentially to a small compact set. We assume that the gravity term and Jacobian matrix are unknown. Radial basis function neural networks (RBFNNs) with online real-time learning are proposed for compensating both gravitational forces and errors in the robot Jacobian matrix. The learning rule for updating the neural network weights, similar to a back propagation algorithm, is obtained from a Lyapunov stability analysis. Experimental results on a two degrees of freedom manipulator are presented to evaluate the proposed controller.

Published in:

Neural Networks, IEEE Transactions on  (Volume:17 ,  Issue: 4 )

Date of Publication:

July 2006

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