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An RBF-PD Control Method for Robot Grasping of Moving Object

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Transactions on Intelligent Welding Manufacturing

Part of the book series: Transactions on Intelligent Welding Manufacturing ((TRINWM))

Abstract

In order to solve the uncertainty of robot’s grabbing position of moving objects, a control method based on RBF (radial basis function) neural network and PD (proportional-derivative) for crawling dynamic targets is proposed. The Kalman filter algorithm is used to estimate the pose of the moving target. The information of the pose estimator is used as the input of the adaptive neural network controller. An adaptive robust control scheme based on RBF neural network and PD is proposed. It ensures that the trajectories are accurately tracked even in the presence of external disturbances and uncertainties. The machine learning method is implemented into a vision-based control scheme to compensate for the uncertainty of the estimated grasping position and improve the success rate of the robot’s accurate grasping. Finally, the experiment was carried out to verify the effectiveness of the proposed method.

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Acknowledgements

The authors would like to acknowledge the fund of Beijing Advanced Innovation Center for Intelligent Robots and Systems.

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Authors and Affiliations

  1. Beihang University, 100191, Beijing, China

    Yong Tao

  2. Wuhan University of Science and Technology, 430081, Wuhan, China

    Xianwu Xie & Hegen Xiong

Authors
  1. Yong Tao
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  2. Xianwu Xie
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  3. Hegen Xiong
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Corresponding author

Correspondence to Xianwu Xie .

Editor information

Editors and Affiliations

  1. Shanghai Jiao Tong University , Shanghai, China

    Shanben Chen

  2. Department of Electrical and Computer Engineering, University of Kentucky, Lexington, Kentucky, USA

    Yuming Zhang

  3. Oak Ridge National Laboratory, Oak Ridge, Tennessee, USA

    Zhili Feng

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© 2019 Springer Nature Singapore Pte Ltd.

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Tao, Y., Xie, X., Xiong, H. (2019). An RBF-PD Control Method for Robot Grasping of Moving Object. In: Chen, S., Zhang, Y., Feng, Z. (eds) Transactions on Intelligent Welding Manufacturing. Transactions on Intelligent Welding Manufacturing. Springer, Singapore. https://doi.org/10.1007/978-981-10-8740-0_9

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