Robust Kalman Filtering Cooperated Elman Neural Network Learning for Vision-Sensing-Based Robotic Manipulation with Global Stability

CORC > 厦门大学 > 信息技术－已发表论文

	Robust Kalman Filtering Cooperated Elman Neural Network Learning for Vision-Sensing-Based Robotic Manipulation with Global Stability
	Zhong, Xungao ; Zhong, Xunyu ; Peng, Xiafu ; Zhong XY(仲训昱) ; Peng XF(彭侠夫)
刊名	http://dx.doi.org/10.3390/s131013464
	2013
关键词	VISUAL SERVO CONTROL VISIBILITY FEATURES
英文摘要	Fujian Provincial Natural Science Foundation of China [2010J05141]; In this paper, a global-state-space visual servoing scheme is proposed for uncalibrated model-independent robotic manipulation. The scheme is based on robust Kalman filtering (KF), in conjunction with Elman neural network (ENN) learning techniques. The global map relationship between the vision space and the robotic workspace is learned using an ENN. This learned mapping is shown to be an approximate estimate of the Jacobian in global space. In the testing phase, the desired Jacobian is arrived at using a robust KF to improve the ENN learning result so as to achieve robotic precise convergence of the desired pose. Meanwhile, the ENN weights are updated (re-trained) using a new input-output data pair vector (obtained from the KF cycle) to ensure robot global stability manipulation. Thus, our method, without requiring either camera or model parameters, avoids the corrupted performances caused by camera calibration and modeling errors. To demonstrate the proposed scheme's performance, various simulation and experimental results have been presented using a six-degree-of-freedom robotic manipulator with eye-in-hand configurations.
语种	英语
出版者	MDPI AG
内容类型	期刊论文
源URL	[http://dspace.xmu.edu.cn/handle/2288/92530]
专题	信息技术－已发表论文
推荐引用方式 GB/T 7714	Zhong, Xungao,Zhong, Xunyu,Peng, Xiafu,et al. Robust Kalman Filtering Cooperated Elman Neural Network Learning for Vision-Sensing-Based Robotic Manipulation with Global Stability[J]. http://dx.doi.org/10.3390/s131013464,2013.
APA	Zhong, Xungao,Zhong, Xunyu,Peng, Xiafu,仲训昱,&彭侠夫.(2013).Robust Kalman Filtering Cooperated Elman Neural Network Learning for Vision-Sensing-Based Robotic Manipulation with Global Stability.http://dx.doi.org/10.3390/s131013464.
MLA	Zhong, Xungao,et al."Robust Kalman Filtering Cooperated Elman Neural Network Learning for Vision-Sensing-Based Robotic Manipulation with Global Stability".http://dx.doi.org/10.3390/s131013464 (2013).