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

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

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 spac...

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Bibliographic Details
Main Authors: Xungao Zhong, Xunyu Zhong, Xiafu Peng
Format: Article
Language:English
Published: MDPI AG 2013-10-01
Series:Sensors
Subjects:
visual servoing
dynamic Jacobian estimation
Kalman filtering
Elman neural network
global-state-space
Online Access:http://www.mdpi.com/1424-8220/13/10/13464

Internet

http://www.mdpi.com/1424-8220/13/10/13464

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