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Robust Kalman Filtering Cooperated Elman Neural Network Learning for Vision-Sensing-Based Robotic Manipulation with Global Stability
Department of Automation, Xiamen University, South Siming Road, Xiamen 361005, China
* Author to whom correspondence should be addressed.
Received: 10 August 2013; in revised form: 2 September 2013 / Accepted: 2 September 2013 / Published: 8 October 2013
Abstract: In this paper, a global-state-space visual servoing scheme is proposed for uncalibrated model-independent robotic manipulation. The scheme is based on robust Kalman filtering (KF), in conjunction with Elman neural network (ENN) learning techniques. The global map relationship between the vision space and the robotic workspace is learned using an ENN. This learned mapping is shown to be an approximate estimate of the Jacobian in global space. In the testing phase, the desired Jacobian is arrived at using a robust KF to improve the ENN learning result so as to achieve robotic precise convergence of the desired pose. Meanwhile, the ENN weights are updated (re-trained) using a new input-output data pair vector (obtained from the KF cycle) to ensure robot global stability manipulation. Thus, our method, without requiring either camera or model parameters, avoids the corrupted performances caused by camera calibration and modeling errors. To demonstrate the proposed scheme’s performance, various simulation and experimental results have been presented using a six-degree-of-freedom robotic manipulator with eye-in-hand configurations.
Keywords: visual servoing; dynamic Jacobian estimation; Kalman filtering; Elman neural network; global-state-space
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Cite This Article
MDPI and ACS Style
Zhong, X.; Zhong, X.; Peng, X. Robust Kalman Filtering Cooperated Elman Neural Network Learning for Vision-Sensing-Based Robotic Manipulation with Global Stability. Sensors 2013, 13, 13464-13486.
Zhong X, Zhong X, Peng X. Robust Kalman Filtering Cooperated Elman Neural Network Learning for Vision-Sensing-Based Robotic Manipulation with Global Stability. Sensors. 2013; 13(10):13464-13486.
Zhong, Xungao; Zhong, Xunyu; Peng, Xiafu. 2013. "Robust Kalman Filtering Cooperated Elman Neural Network Learning for Vision-Sensing-Based Robotic Manipulation with Global Stability." Sensors 13, no. 10: 13464-13486.