NDLI: Robust Kalman Filtering Cooperated Elman Neural Network Learning for Vision-Sensing-Based Robotic Manipulation with Global Stability

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Robust Kalman Filtering Cooperated Elman Neural Network Learning for Vision-Sensing-Based Robotic Manipulation with Global Stability

Content Provider	MDPI
Author	Zhong, Xungao Zhong, Xunyu Peng, Xiafu
Abstract	In this paper, a global-state-space visual servoing scheme is proposed for uncalibrated model-independent robotic manipulation. The scheme is based on robust Kalman filtering (KF), in conjunction with Elman neural network (ENN) learning techniques. The global map relationship between the vision space and the robotic workspace is learned using an ENN. This learned mapping is shown to be an approximate estimate of the Jacobian in global space. In the testing phase, the desired Jacobian is arrived at using a robust KF to improve the ENN learning result so as to achieve robotic precise convergence of the desired pose. Meanwhile, the ENN weights are updated (re-trained) using a new input-output data pair vector (obtained from the KF cycle) to ensure robot global stability manipulation. Thus, our method, without requiring either camera or model parameters, avoids the corrupted performances caused by camera calibration and modeling errors. To demonstrate the proposed scheme’s performance, various simulation and experimental results have been presented using a six-degree-of-freedom robotic manipulator with eye-in-hand configurations.
File Size	1760256
Ending Page	13486
Page Count	23
Starting Page	13464
File Format	PDF
e-ISSN	14248220
DOI	10.3390/s131013464
Journal	Sensors
Issue Number	10
Volume Number	13
Language	English
Publisher Date	2013-10-08
Access Restriction	Open
Subject Keyword	visual servoing dynamic Jacobian estimation Kalman filtering Elman neural network global-state-space
Content Type	Text
Resource Type	Article

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