Ballistic Reaching Using Visuomotor Maps Constructed with SOM Neural Networks for a Robot Manipulator

Daniel Fernando Tello Gamarra

doi:10.15866/iremos.v7i6.4678

Ballistic Reaching Using Visuomotor Maps Constructed with SOM Neural Networks for a Robot Manipulator

Daniel Fernando Tello Gamarra^(1*)

^(*) Corresponding author

Authors' affiliations

DOI: https://doi.org/10.15866/iremos.v7i6.4678

Abstract

This paper describes a new way of constructing a visuomotor map that is applied in a manipulator robot to accomplish a ballistic reaching task. Ballistic reaching is employed to move the robot hand to a visible and optimal position, once the robot arrives to this position a visually guided task (visual servoing or a manipulation task) could be executed. The visuomotor map has been implemented using SOM (Self-Organized Map) neural networks in a simulated puma 560 robot. The visuomotor map deals with the visibility of the robot hand (end-effector) problem. So the robot can start with its end-effector in any random position of the workspace. A Cartesian controller triggered by a visuomotor map will find a suitable and visible position for the end-effector. Results and simulations are shown to demonstrate the applicability of our proposed model for a ballistic reaching task.
Copyright © 2014 Praise Worthy Prize - All rights reserved.

Keywords

Visuomotor Map; Self-Organized Map; Neural Networks; Robot Manipulator; Cartesian Controller

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