Visual motor control of a 7 DOF robot manipulator using a fuzzy SOM network

Intelligent Service Robotics

Volumn 3, Issue 1, 2010, Pages 49-60

  Kar, Indrani ^a   Behera, Laxmidhar ^b,c  

^a INDIAN INSTITUTE OF TECHNOLOGY GUWAHATI   (India)

^b UNIVERSITY OF ULSTER   (United Kingdom)

^c INDIAN INSTITUTE OF TECHNOLOGY KANPUR   (India)

Author keywords

Fuzzy self organizing map network; Inverse kinematics; Redundant manipulator; Visual motor control

Indexed keywords

EID: 72149095447     PISSN: 18612776     EISSN: 18612784     Source Type: Journal    
DOI: 10.1007/s11370-009-0058-3     Document Type: Article

References (36)

1. Hutchinson S, Hager GD, Corke PI (1996) A tutorial on visual servo control. IEEE Trans Robot Autom 12(5): 651-670.
2. Kragic D etal. Survey on visual servoing for manipulation. http://citeseer. ist. psu. edu/484743. html.
3. Kuperstein M (1987) Adaptive visual-motor coordination in multijoint robots using parallel architecture. Proc IEEE Int Conf Robot Autom 4: 1595-1602.
4. Martinetz TM, Ritter HJ, Schulten KJ (1990) Three-dimensional neural net for learning visual motor coordination of a robot arm. IEEE Trans Neural Netw 1(1): 131-136.
5. Walter JA, Schulten KJ (1993) Implementation of self-organizing neural networks for visual-motor control of an industrial robot. IEEE Trans Neural Netw 4(1): 86-95.
6. Behera L, Kirubanandan N (1999) A hybrid neural control scheme for visual-motor coordination. IEEE Control Syst Mag 19(4): 34-41.
7. Tsai RY (1987) A versatile camera calibration technique for high-accuracy 3d machine vision metrology using off-the-shelf TV cameras and lenses. IEEE J Robot Autom RA-3(4): 323-344.
8. Nakamura Y, Hanafusa H (1984) Task priority based redundancy control of robot manipulators. In: Proceedings of the 2nd internationl symposium on robotic research, Kyoto, Japan.
9. Seraji H (1989) Configuration control of redundant manipulators: theory and implementation. IEEE Trans Robot Autom 5(4): 472-490.
10. Seraji H, Long MK, Lee TS (1993) Motion control of 7-dof arms: the configuration control approach. IEEE Trans Robot Autom 9(2): 125-139.
11. Kohonen T (1990) The self-organizing map. In: Proceedings of the IEEE, vol 78, September, pp 1464-1480.
12. Kumar N, Behera L (2004) Visual motor coordination using a quantum clustering based neural control scheme. Neural Process Lett 20: 11-22.
13. Martinetz T, Ritter H, Schulten K (1990) Learning of visuomotor-coordination of a robot arm with redundant degrees of freedom. In: Proceedings of the international conference on parallel processing in neural systems and computers (ICNC). Dusseldorf, Elsevier, Amsterdam, pp 431-434.
14. Hesselroth T, Sarkar K, Smagt PP, Schulten K (1994) Neural network control of a pneumatic robot arm. IEEE Trans Syst Man Cybernet 24(1): 28-38.
15. Kumar S, Shukla A, Dutta A, Behera L (2007) A model-free redundancy resolution technique for visual motor coordination of a 6 dof robot manipulator. In: IEEE 22nd international symposium on intelligent control, 1-3 Oct 2007, pp 544-549.
16. Walter J, Ritter H (1996) Rapid learning with parametrized self-organizing maps. Neurocomputing 12: 131-153.
17. Walter J, Nolker C, Ritter H (2000) The PSOM algorithm and applications. In: Proceedings of the international ICSC symposium on neural computation, pp 758-764.
18. Oh PY, Allen PK (2001) Visual servoing by partitioning degrees of freedom. IEEE Trans Robot Autom 17(1): 1-17.
19. Roberts RG, Maciejewski AA (1993) Repeatable generalized inverse control strategies for kinematically redundant manipulators. IEEE Trans Autom Control 38(5): 689-699.
20. English JD, Maciejewski AA (2000) On the implementation of velocity control for kinematically redundant manipulators. IEEE Trans SMC 30(3): 233-237.
21. Giuseppe RD, Taurisano F, Distante C, Anglani A (1999) Visual servoing of a robotic manipulator based on fuzzy logic controller. In: Proceedings of the international conference on robotics and automation. IEEE, Detroit, Michigan, pp 1487-1494.
22. Kim CS, Seo WH, Han SH, Khatib O (2001) Fuzzy logic control of a robot manipulator based on visual servoing. In: Proceedings of the international symposium on industrial electronics. IEEE, Pusan, South Korea, pp 1597-1602.
23. Kragic D, Christensen HI (2001) Cue integration in visual servoing. IEEE Trans Robot Autom 17(1): 18-27.
24. Kumaresan S, Li H, min Li X (1995) Robot hand-eye coordination based on fuzzy logic. In: Fuzzy logic and intelligent systems. Springer, Netherlands, pp 245-269.
25. Prochazka A (1996) The fuzzy logic of visuomotor control. Can J Physiol Pharmacol 74(4): 456-462.
26. Prochazka A, Gillard D (1997) Sensory control of locomotion. In: Proceedings of the American control conference. Albuquerque, New Mexico, pp 2846-2850.
27. Dunn JC (1973) A fuzzy relative of the isodata process and its use in detecting compact well-separated clusters. J Cybernet 3: 32-57.
28. Bezdek JC (1981) Pattern recognition with fuzzy objective function algoritms. Plenum Press, New York.
29. D'Souza A, Vijayakumar S, Schaal S (2001) Learning inverse kinematics. In: International conference on intelligent robots and systems. IEEE, Maui, Hawai, pp 298-303.
30. Open source computer vision library, http://www. intel. com/technology/computing/opencv/.
31. Amtec robotics, http://www. amtec-robotics. com/.
32. Craig JJ (1989) Introduction to robotics. Pearson Education Inc., New Jersey.
33. Kiviluoto K (1996) Topology preservation in self-organizing maps. In: Proceedings of IEEE international conference on neural networks, vol 1, pp 294-299.
34. Tevatia G, Schaal S (2000) Inverse kinematics for humanoid robots. In: IEEE international conference on robotics and automation, vol 1, 24-28 April 2000, pp 294-299.
35. Kumar S, Behera L (2008) Visual motor control of a 7dof robot manipulator using function decomposition and sub-clustering in configuration space. Neural Process Lett 28(1): 17-33.
36. Everest vit, http://www. everestvit. com/.