Visual Servoing Application for Inverse Kinematics of Robotic Arm Using Artificial Neural Networks

Autor:	E Emregül Erşan, Ayca Ak, Vedat Topuz
Přispěvatelé:	Ak, Ayca, Topuz, Vedat, Ersan, Emregul
Rok vydání:	2019
Předmět:	Artificial neural network General Computer Science Inverse kinematics Computer science business.industry Inverse kinematic Visual servoing Image processing Computer vision Artificial intelligence Electrical and Electronic Engineering business Robotic arm Robot control
Zdroj:	Studies in Informatics and Control. 27:183-190
ISSN:	1841-429X 1220-1766
Popis:	This paper presents novel approach for a visual servoing application of six axis robotic arm. Basic image-processing techniques were used for object recognition and position determination of robotic arm. The inverse kinematics solution of the robot arm was performed with artificial neural networks. Afterwards the robot's inverse kinematics solution was completed, the determined joint-angle values were used to control the robot arm. Performance of radial basis function network (RBF) and multilayer perceptron (MLP) were also compared.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_dedup___::e5ddc6149e2737ec8a1d9857980d5159 https://doi.org/10.24846/v27i2y201806 Zobrazit plný text záznamu