Coordination of an Uncalibrated 3-D Visuo-Motor System Based on Multiple Self-Organizing Maps
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概要
- 論文の詳細を見る
This paper presents a method to coordinate an uncalibrated visuo-motor system in a 3D space. In order to handle spaces occluded by obstacles, a 3-camera system and two related self-organizing maps (SOMs) are employed. The self-organizing maps are directly connected to the camera system and are trained to perform position control. Based on the visibility of targets given in the workspace, an appropriate map is adopted. The maps determine the joint angles of the manipulator which make the end effector reach the targets precisely, and make the manipulator take obstacle-free poses. The proposed learning method ensures that the manipulator moves smoothly and consistently in whole workspace even though we use two maps to control it. In our visuo-motor system, neither any priori knowledge about the manipulator nor the camera parameters is required. In addition, the system is robust to change in its geometry. Simulation results are presented to demonstrate the effectiveness of the proposed method and the robustness of the system.
- 社団法人日本機械学会の論文
- 2006-03-15
著者
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KONDO Eiji
Department of Mechanical Engineering, Graduate School of Science and Engineering, Kagoshima Universi
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Kondo Eiji
Kyushu Univ. Fukuoka‐shi Jpn
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Han Min
Department Of Intelligent Machinery And System Graduate School Of Engineering Kyushu University
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OKADA Nobuhiro
Department of Intelligent Machinery and System, Graduate School of Engineering, Kyushu University
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Okada Nobuhiro
Department Of Intelligent Machinery And System Graduate School Of Engineering Kyushu University
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Kondo Eiji
Department Of Intelligent Machinery And System Graduate School Of Engineering Kyushu University
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Han Min
Department Of Chemical And Biological Engineering Applied Rheology Center Korea University
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Kondo Eiji
Department Of Anatomy & Neuroscience Osaka University Medical School
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