Robust Kalman filtering cooperated Elman neural network learning for vision-sensing-based robotic manipulation with global stability

Sensors (Switzerland)

Volumn 13, Issue 10, 2013, Pages 13464-13486

  Zhong, Xungao ^a   Zhong, Xunyu ^a   Peng, Xiafu ^a  

^a XIAMEN UNIVERSITY   (China)

Author keywords

Dynamic Jacobian estimation; Elman neural network; Global state space; Kalman filtering; Visual servoing

Indexed keywords

CAMERAS; KALMAN FILTERS; ROBOTICS; VISUAL SERVOING;

ELMAN NEURAL NETWORK; ELMAN NEURAL NETWORKS (ENN); GLOBAL-STATE-SPACE; JACOBIAN ESTIMATION; KALMAN-FILTERING; ROBOTIC MANIPULATION; ROBUST KALMAN FILTERING; SIX-DEGREE-OF-FREEDOM;

NEURAL NETWORKS;

EID: 84885339235     PISSN: 14248220     EISSN: None     Source Type: Journal    
DOI: 10.3390/s131013464     Document Type: Article

References (35)

1. Shirai, Y.; Inoue, H. Guiding a robot by visual feedback in assembling tasks. Pattern Recognit. 1973, 5, 99-108.
2. Chaumette, F.; Hutchinson, S. Visual servo control. Part II: Advanced approaches. IEEE Robot. Autom. Mag. 2007, 14, 109-118.
3. Jorge, P.; Pablo, G.; Fernando, T. Visual control of robots using range images. Sensors 2010, 10, 7303-7322.
4. Garcia-Aracil, N.; Perez-Vidal, C.; Sabater, J.M.; Morales, R.; Badesa, F.J. Robust and cooperative image-based visual servoing system using a redundant architecture. Sensors 2011, 11, 11885-11900.
5. Do-Hwan, P.; Jeong-Hoon, K.; In-Joong, H. Novel position-based visual servoing approach to robust global stability under field-of-view constraint. IEEE Trans. Indus. Elec. 2012, 59, 4735-4752.
6. Chaumette, F.; Hutchinson, S. Visual servo control. Part I: Basic approaches. IEEE Robot. Autom. Mag. 2006, 13, 82-90.
7. Hutchinson, S.; Hager, G.; Corke, P. Atutorial on visual servo control. IEEE Trans. Robot. Autom. 1996, 12, 651-670.
8. Baumann, M.; Leonard, S.; Croft, E.A.; Little, J.J. Path planning for improved visibility using a probabilistic road map. IEEE Trans. Robot. 2010, 26, 195-200.
9. Chaumette, F. Potential Problems of Stability and Convergence in Image-Based and Position Based Visual Servoing. In The Confluence of Vision and Control, LNCIS Series; Kriegman, D., Hager, G., Morse, A., Eds.; Springer-Verlag: New York, NY, USA, 1998; Volume 237, pp. 66-78.
10. Garcia-Aracil, N.; Malis, E.; Aracil-Santonja, R.; Perez-Vidal, C. Continuous visual servoing despite the changes of visibility in image features. IEEE Trans. Robot. 2005, 21, 1214-1220.
11. Chesi, G.; Hashimoto, K.; Prattichizzo, D.; Vicino, A. Keeping features in the field of view in eye-in-hand visual servoing: A switching approach. IEEE Trans. Robot. 2004, 20, 908-913.
12. Comport, A.; Pressigout, M.; Marchand, E.; Chaumette, F. A Visual Servoing Control Law that is Robust to Image Outliers. In Proceedings of IEEE International Conference on Intelligent Robots and Systems (IROS'03), Las Vegas, NV, USA, 27-31 October 2003; Volume 1, pp. 492-497.
13. Sanderson, A.C.; Weis, L.E.; Neuman, C.P. Dynamic sensor-based control of robots with visual feedback control. IEEE J. Robot. Autom. 1987, 7, 31-47.
14. Redwan, D.; Nicolas, A.; Youcef, M.; Omar, A.-A.; Philippe, M. Dynamic visual servoing from sequential regions of interest acquisition. Int. J. Robot. Res. 2012, 4, 1-19.
15. Youcef, M.; Francois, C. Path planning for robust image-based control. IEEE Trans. Robot. Autom. 2002, 18, 534-549.
16. Chesi, G. Visual servoing path-planning via homogeneous forms and LMI optimizations. IEEE Trans. Robot. Autom. 2009, 25, 281-291.
17. Chesi, G.; Shen, T. Conferring robustness to path-planning for image-based control. IEEE Trans. Control Syst. Tech. 2011, doi: 10.1109/TCST.2011.2157346.
18. Eissa, N.; Aleksandar, V.; Janabi-Sharifi, F. A second-order conic optimization-based method for visual servoing. Mechatronics 2012, 22, 444-467.
19. Zoran, M.; Marko, M.; Mihailo, L.; Bojan, B. Neural network reinforcement learning for visual control of robot manipulators. Exp. Syst. Appl. 2013, 40, 1721-1736.
20. Shahamiri, M.; Jagersand, M. Uncalibrated Visual Servoing Using a Biased Newton Method for On-Line Singularity Detection and Avoidance. In Proceedings of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005 (IROS 2005), Edmonton, AB, Canada, 2-6 August 2005; pp. 3953-3958.
21. Jagersand, M.; Fuentes, O.; Nelson, R. Experimental Evaluation of Uncalibrated Visual Servoing for Precision Manipulation. In Proceedings of 1997 IEEE International Conference on Robotics and Automation, Albuquerque, NM, USA, 20-25 April 1997, pp. 2874-2880.
22. Piepmeier, J.A.; Lipkin, H. Uncalibrated eye-in-hand visual servoing. Int. J. Robot. Res. 2003, 22, 805-819.
23. Azad, S.; Amir-Massoud, F.; Martin, J. Robust Jacobian Estimation for Uncalibrated Visual Servoing. In Proceedings of 2010 IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, USA, 3-7 May 2010; pp. 5564-5569.
24. Qian, J.; Su, J. Online estimation of image Jacobian matrix by Kalman-Bucy filterfor uncalibrated stereo vision feedback. In Proceedings of IEEE International Conference on Robotics and Automation, 2002 (ICRA '02), Washington, DC, USA, 14-18 May 2002; PP. 562-567.
25. Prem Kumar, P.; Laxmidhar, B. Visual servoing of redundant manipulator with Jacobian matrix estimation using self-organizing map. Robot. Autonom. Syst. 2010, 58, 978-990.
26. Kosmopoulos, D.I. Robust Jacobian matrix estimation for image-based visual servoing. Robot. Comp. Integr. Manufac. 2011, 27, 82-87.
27. Swagat, K.; Laxmidhar, B.; McGinnity, T.M. Kinematic control of a redundant manipulator using an inverse-forward adaptive scheme with a KSOM based hint generator. Robot. Autonom. Syst. 2010, 58, 622-633
28. Sun, G.; Scassellati, B. A fast and efficient model for learning to reach. Int. J. Hum. Robot. 2005, 4, 391-413.
29. Chui, C.K.; Chen, G. Kalman Filtering with Realtime Application; Springer-Verlag: Berlin/Heidelberg, Germany, 1987.
30. Simo, S. On unscented kalman filtering for state estimation of continuous-time nonlinear systems. IEEE Trans. Auto. Control 2007, 52, 1631-1641.
31. Elman, J.L. Finding structure in time. Cognit. Sci. 1990, 14, 179-211.
32. Shi, X.H.; Liang, Y.C.; Lee, H.P.; Lin, W.Z.; Xu, X.; Lim, S.P. Improved Elman networks and applications for controlling ultrasonic motors. Appl. Artif. Intell. 2004, 18, 603-629.
33. Assal, S.F.M.; Watanabe, K.; Izumi, K. Neural network-based kinematic inversion of industrial redundant robots using cooperative fuzzy hint for the joint limits avoidance. IEEE Trans. Mech. 2006, 11, 593-603.
34. Martin, P.; Millan, J.R. Robot arm reaching through neural inversions and reinforcement learning. Robot. Autonom. Syst. 2000, 31, 227-246.
35. Ceren, Z.; Altug, E. Image based and hybrid visual servo control of an unmanned aerial vehicle. J. Intell. Robot. Syst. 2012, 65, 325-344.