Robotic Manipulator's Visual Servo Control Based on Echo State Networks

doi:10.16182/j.issn1004731x.joss.201708027

Abstract

Abstract: The inaccuracy in robotic manipulator modeling, which due to the nonlinear and strong coupling of robotic manipulator itself, cannot be ignored on the study of the robotic manipulator control problem. Aiming at the inaccuracy in robotic manipulator modeling, this study led echo state network in the visual servo control system of robotic manipulator. In order to achieve the robotic manipulator positioning control, this study used the echo state network to identify inaccurate item and compensates the uncertainties of the model in the control law. The simulation model of the simulated system was built with MATLAB simulation software. The results, compared with the visual servo system without echo state network, the echo state network can well identify the inaccuracy in robotic manipulator modeling. The system can quickly achieve the desired requirements with compensate the uncertainties of the model.

Key words: echo state network, visual servo, robotic manipulator, MATLAB simulation

CLC Number:

TP391.9

Li Guoyou, Su Xiafei, Qin Xiaolei, Shi Xiangxue. Robotic Manipulator's Visual Servo Control Based on Echo State Networks[J]. Journal of System Simulation, 2017, 29(8): 1845-1850.

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