Visual Servo Tracking Control for Slider Robot Using CMAC Neural Network Recognition Approach
This paper describes an image-based visual servo tracking control scheme using CMAC neural network as object recognition feedback methodology. A web camera based image capture system is mounted on the slider robot to capture the desired object and a CMAC (Cerebellar Model Articulation Controller) based object recognition scheme is developed to recognize the captured object image. Comparing the relative location of the recognized object and the web camera, then the position feedback signal can be obtained. Using the feedback signal, a PID (Proportional-Integral-Derivative) controller is designed to track the desired object by moving a single-axis slider robot, such that the captured object image located on the center of the captured frame always.
C. P. Hung and F. T. Hsieh, "Visual Servo Tracking Control for Slider Robot Using CMAC Neural Network Recognition Approach", Applied Mechanics and Materials, Vols. 284-287, pp. 2092-2095, 2013