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Visual Motor Control of a 7 DOF Robot Manipulator Using Function Decomposition and Sub-Clustering in Configuration Space

Biomedical Sciences Research Institute Computer Science Research Institute Environmental Sciences Research Institute Nanotechnology & Advanced Materials Research Institute

Kumar, Swagat, Patel , Naman and Behera, Laxmidhar (2008) Visual Motor Control of a 7 DOF Robot Manipulator Using Function Decomposition and Sub-Clustering in Configuration Space. Neural Processing Letters, 28 (1). pp. 17-33. [Journal article]

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DOI: 10.1007/s11063-008-9079-8

Abstract

This paper deals with real-time implementation of visual-motor control of a 7 degree of freedom (DOF) robot manipulator using self-organized map (SOM) based learning approach. The robot manipulator considered here is a 7 DOF PowerCube manipulator from Amtec Robotics. The primary objective is to reach a target point in the task space using only a single step movement from any arbitrary initial configuration of the robot manipulator. A new clustering algorithm using Kohonen SOM lattice has been proposed that maintains the fidelity of training data. Two different approaches have been proposed to find an inverse kinematic solution without using any orientation feedback. In the first approach, the inverse Jacobian matrices are learnt from the training data using function decomposition. It is shown that function decomposition leads to significant improvement in accuracy of inverse kinematic solution. In the second approach, a concept called sub-clustering in configuration space is suggested to provide multiple solutions for the inverse kinematic problem. Redundancy is resolved at position level using several criteria. A redundant manipulator is dexterous owing to the availability of multiple configurations for a given end-effector position. However, existing visual motor coordination schemes provide only one inverse kinematic solution for every target position even when the manipulator is kinematically redundant. Thus, the second approach provides a learning architecture that can capture redundancy from the training data. The training data are generated using explicit kinematic model of the combined robot manipulator and camera configuration. The training is carried out off-line and the trained network is used on-line to compute the joint angle vector to reach a target position in a single step only. The accuracy attained is better than the current state of art.

Item Type:Journal article
Faculties and Schools:Faculty of Computing & Engineering
Faculty of Computing & Engineering > School of Computing and Intelligent Systems
Research Institutes and Groups:Computer Science Research Institute
Computer Science Research Institute > Intelligent Systems Research Centre
ID Code:21183
Deposited By:Dr Laxmidhar Behera
Deposited On:29 Feb 2012 15:21
Last Modified:29 Feb 2012 15:21

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