| 基于神经网络的视觉机器人模糊控制 |
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| 引用本文： | 张玉洁,徐刚.基于神经网络的视觉机器人模糊控制[J].深圳大学学报(理工版),2004,21(4):301-305. |
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| 作者姓名： | 张玉洁 徐刚 |
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| 作者单位： | 深圳大学工程技术学院,深圳,518060 |
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| 基金项目： | 国家自然科学基金资助项目(60175026) |
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| 摘 要： | 设计人工神经网络(ANN)替代机器人的图像雅克比矩阵,基于ANN和视觉机器人构成的增广被控对象设计了模糊控制器,组成了基于神经网络和模糊逻辑的机器人视觉伺服控制系统,给出了实验结果.实验表明,该方法简捷、易行、有效.
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| 关 键 词： | 视觉伺服 机器人 人工神经网络 模糊控制 |
| 文章编号： | 1000-2618(2004)04-0301-05 |
| 修稿时间： | 2004年6月2日 |
Fuzzy control of visual robot based on neural network |
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| ZHANG Yu-jie and XU GangCollege of Engineering and TechnologyShenzhen UniversityShenzhen P. R. China.Fuzzy control of visual robot based on neural network[J].Journal of Shenzhen University(Science &engineering),2004,21(4):301-305. |
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| Authors: | ZHANG Yu-jie and XU GangCollege of Engineering and TechnologyShenzhen UniversityShenzhen P R China |
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| Affiliation: | ZHANG Yu-jie and XU GangCollege of Engineering and TechnologyShenzhen UniversityShenzhen 518060P. R. China |
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| Abstract: | A neural network is designed for an eye-in-hand visual servo robot system to replace the Image Jaccobi Matrix of the robot. An augmented design plant model is formed by jointing the GRB-400 robot and the network. Fuzzy controller based on the augment design plant is designed to form a steady visual servo motion feedback control system. Experiment results show that this method is effective. |
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| Keywords: | visual servo robot neural network fuzzy control |
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