부산대학교 도서관

A new simpler vision based robot control system is proposed characterized which position specific artificial neural network (ANN) and end-effecter integrated camera system. Position specific ANN avoids the difficulty of covering the whole joint space with changing parameters using one set of ANN, and end-effecter integrated camera system makes the image of an object consistent when the end-effecter approaches the object. The image can be directly used as feedback. Simulation shows that the system works smoothly, and converges in limited steps. The algorithm simplifies the model of vision based robot manipulator control system, and improves the control accuracy and response time.