Journal of System Simulation
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.
Recommended Citation
Li, Guoyou; Su, Xiafei; Qin, Xiaolei; and Shi, Xiangxue
(2020)
"Robotic Manipulator's Visual Servo Control Based on Echo State Networks,"
Journal of System Simulation: Vol. 29:
Iss.
8, Article 27.
DOI: 10.16182/j.issn1004731x.joss.201708027
Available at:
https://dc-china-simulation.researchcommons.org/journal/vol29/iss8/27
First Page
1845
DOI Link
https://doi.org/10.16182/j.issn1004731x.joss.201708027
Last Page
1850
CLC
TP391.9
Recommended Citation
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.
DOI
10.16182/j.issn1004731x.joss.201708027
Included in
Artificial Intelligence and Robotics Commons, Computer Engineering Commons, Numerical Analysis and Scientific Computing Commons, Operations Research, Systems Engineering and Industrial Engineering Commons, Systems Science Commons