Visual Servoing Application for Inverse Kinematics of Robotic Arm
Using Artificial Neural Networks

Ayca AK^1*, Vedat TOPUZ¹, Emregul ERSAN²
¹Marmara University Vocational School of Technical Sciences,
Goztepe, Istanbul/Turkey
aycaak@marmara.edu.tr (^*Corresponding author)
¹ Marmara University Vocational School of Technical Sciences,
Goztepe, Istanbul/Turkey
vtopuz@marmara.edu.tr
³ Zeytinburnu Industrial Vocational School, Zeytinburnu,
Istanbul/Turkey
emregulersan@hotmail.com

ABSTRACT: This paper presents novel approach for a visual servoing application of six axis robotic arm. Basic imageprocessing techniques were used for object recognition and position determination of robotic arm. The inverse kinematics solution of the robot arm was performed with artificial neural networks. Afterwards the robot’s inverse kinematics solution was completed, the determined joint-angle values were used to control the robot arm. Performance of radial basis function network (RBF) and multilayer perceptron (MLP) were also compared.

KEYWORDS: Image processing, Robot control, Artificial neural network, Visual servoing, Inverse kinematic.

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CITE THIS PAPER AS:
Ayca AK, Vedat TOPUZ, Emregul ERSAN, Visual Servoing Application for Inverse Kinematics of Robotic Arm Using Artificial Neural Networks, Studies in Informatics and Control, ISSN 1220-1766, vol. 27(2), pp. 183-190, 2018. https://doi.org/10.24846/v27i2y201806