GA-pattern matching based manipulator control for real-time visual tracking

Mamoru Minami, T. Asakura, J. Agbanhan, Y. Aoyagi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A control scheme for robot manipulators is presented, which makes use of visual information to direct the hand of a manipulator towards an object which position and orientation are not known, in its task space. The vision system employs genetic algorithm (GA) and a pattern matching technique, to search for a rectangular contour of a block in the robot task space image. The information derived from the vision system are continuously input into the robot controller so that a motion control is operated and the manipulator follows a path planned by GA, to reach the unknown target. Simulation results performed on a two-link robot manipulator, show that the manipulator hand reached the object as fast as the searching for an unknown target is completed, confirming the effectiveness of the controller. In fact this is a visual control strategy to the path planning problem for robot manipulators. This system may be used for real-time control of a manipulator to pick up an object which position and orientation are not known previously.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Editors Anon
PublisherSociety of Instrument and Control Engineers (SICE)
Pages1131-1136
Number of pages6
Publication statusPublished - 1997
Externally publishedYes
EventProceedings of the 1997 36th SICE Annual Conference - Tokushima, Jpn
Duration: Jul 29 1997Jul 31 1997

Other

OtherProceedings of the 1997 36th SICE Annual Conference
CityTokushima, Jpn
Period7/29/977/31/97

Fingerprint

Pattern matching
Manipulators
Genetic algorithms
Robots
Controllers
Real time control
Motion control
End effectors
Motion planning

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Minami, M., Asakura, T., Agbanhan, J., & Aoyagi, Y. (1997). GA-pattern matching based manipulator control for real-time visual tracking. In Anon (Ed.), Proceedings of the SICE Annual Conference (pp. 1131-1136). Society of Instrument and Control Engineers (SICE).

GA-pattern matching based manipulator control for real-time visual tracking. / Minami, Mamoru; Asakura, T.; Agbanhan, J.; Aoyagi, Y.

Proceedings of the SICE Annual Conference. ed. / Anon. Society of Instrument and Control Engineers (SICE), 1997. p. 1131-1136.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Minami, M, Asakura, T, Agbanhan, J & Aoyagi, Y 1997, GA-pattern matching based manipulator control for real-time visual tracking. in Anon (ed.), Proceedings of the SICE Annual Conference. Society of Instrument and Control Engineers (SICE), pp. 1131-1136, Proceedings of the 1997 36th SICE Annual Conference, Tokushima, Jpn, 7/29/97.
Minami M, Asakura T, Agbanhan J, Aoyagi Y. GA-pattern matching based manipulator control for real-time visual tracking. In Anon, editor, Proceedings of the SICE Annual Conference. Society of Instrument and Control Engineers (SICE). 1997. p. 1131-1136
Minami, Mamoru ; Asakura, T. ; Agbanhan, J. ; Aoyagi, Y. / GA-pattern matching based manipulator control for real-time visual tracking. Proceedings of the SICE Annual Conference. editor / Anon. Society of Instrument and Control Engineers (SICE), 1997. pp. 1131-1136
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