Vision-based control of multi-fingered robot hands using neural networks

被引：0
|
作者：
Zhao, Y. [1 ]
Cheah, C. C. [1 ]
机构：
[1] Nanyang Technol Univ, Sch Elect & Elect Engn, Block S1,Nanyang Ave, Singapore 639798, Singapore
来源：
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年
关键词：
D O I：
10.1109/IROS.2006.281746
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Most research so far on of multi-fingered robot control has assumed that the kinematics is known exactly. However, in many applications of multi-fingered robot hands, the kinematics is uncertain. In this paper, a vision based control problem for multi-fingered robot hands with uncertain kinematics, dynamics and camera model is addressed. Adaptive neural network control law is proposed and it is shown that the stability can be achieved in the presence of the uncertainties. Sufficient conditions for choosing the feedback gains are presented to guarantee the stability.
引用
收藏
页码：910 / +
页数：2
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