Kinematic control of robot manipulators using visual feedback

Abstract

This paper presents a hybrid visual motor control scheme for robot manipulators using visual feedback. The proposed scheme uses an extended Kohonen's Self Organizing Map (EKSOM) to find out the mapping from the task space to the joint space of the manipulator. Given the camera coordinates, the EKSOM has been trained to compute the joint space using visual feedback and system model. This scheme can be used to track the position of a moving object. The position-tracking of moving object is achieved using a prediction rule based on visual feedback from the camera. In the nonredundant case, this scheme is successfully implemented on a three-link manipulator for a known and unknown trajectory. In the redundant case, configuration control is used for the tracking of object position.