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A control scheme of visual servo control of robotic manipulators using artificial neural network

This paper describes a control scheme for a robotic manipulator system which uses visual information to position and orientate the end-effector. The main feature of the control scheme is direct integration of visual data into the servoing process without any geometric process of object position and orientation, and inverse kinematic calculation. Another feature is the use of an artificial neural network for the determination of the change in the joint angles required in order t o achieve the desired position and orientation. The validity and the effectiveness of the proposed control scheme are verified by computer simulations.