視覚情報によるマニピュレータの位置・姿勢制御 ニューラルネットワークの利用

Abstract

This paper describes a control scheme for a robotic manipulator system which uses visual information to position and orientate the end-effector. In the scheme the position and the orientation of the target workpiece with respect to the base frame of the robot are assumed to be unknown, but the desired relative position and orientation of the end-effector to the target workpiece are given in advance. The control system directly integrates visual data into the servoing process without subdi-viding the process into determination of the position and orientation of the workpiece and inverse kinematic calculation. An artificial neural network system is used for determining the change in joint angles required in order to achieve the desired position and orientation. The proposed system can control the robot so that it approach the desired position and orientation from arbitrary initial ones. Simulation for the robotic manipulator with six degrees of freedom is done. The validity and the effectiveness of the proposed control scheme are verified by computer simulations.