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Nested Networks For Robot Control (1995)
| Citations: | 6 - 2 self |
BibTeX
@MISC{Jansen95nestednetworks,
author = {Arjen Jansen and Patrick van der Smagt and Frans Groen},
title = {Nested Networks For Robot Control},
year = {1995}
}
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Abstract
INTRODUCTION Sensor based robot control systems can overcome many of the difficulties which are caused by unknown or uncertain models of the environment. Conventional sensor based control systems require explicit knowledge of the kinematics and dynamics of the robot arm and a careful calibration of the sensor system. Instead, adaptive neural controllers can be used to build an internal representation of the camera--motor correspondence from exemplar behaviour and adapt where necessary. In that case, static models are not necessary anymore, and the system can cope with changing behaviour of the robot (wear and tear, payload correction) and its sensors (changing lighting conditions, calibration and re-calibration). We concentrate on the pick-and-place task. The system gathers its information from angle sensors mounted on the joints of the robot, and a single camera which is situated in the end-effector of the robot. This placement of the camera increases visual precision when th
Keyphrases
robot control visual precision uncertain model explicit knowledge adaptive neural controller control system robot arm exemplar behaviour angle sensor static model conventional sensor single camera introduction sensor internal representation robot control system pick-and-place task payload correction careful calibration sensor system camera motor correspondence
