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Title: A one-eyed self-learning robot manipulator Neural networks in robotics
Written by: Kr{\"o}se B, Smagt P van der, Groen F
in: 1993
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on pages: 19-28
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Editor: G. Bekey and K. Goldberg
Publisher: Kluwer Academic Publishers, Dordrecht
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Abstract: A self-learning, adaptive control system for a robot arm using a vision system in a feedback loop is described. The task of the control system is to position the end-effector as accurate as possible directly above a target object, so that it can be grasped. The camera of the vision system is positioned in the end-effector and the visual information is used directly to control the robot. Two strategies are presented to solve the problem of obtaining 3D information from a single camera: a) using the size of the target object and b) using information from a sequence of images from the moving camera. In both cases a neural network is trained to perform the desired mapping.