Uncalibrated hand-eye coordination fussy control method based on support vector regression (SVR) learning
A technology of support vector regression and support vector machine, which is applied in adaptive control, general control system, control/regulation system, etc., and can solve the problems of limited number of samples, limited number of samples, and difficulty in guaranteeing the number of infinite samples.
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[0028] The specific embodiments of the present invention will be further described below in conjunction with the drawings.
[0029] Such as figure 1 As shown, an uncalibrated hand-eye coordination fuzzy control method based on support vector regression machine learning, using machine learning algorithm support vector regression machine combined with fuzzy thinking to design a controller, including the following steps:
[0030] 1) The movement record and image projection record of the target object and the robot gripper: The target object moves randomly on the working plane, and the robot gripper also moves randomly on the working plane at different speeds. The target object and the robot are recorded by the camera. The movement of the gripper is projected into the image plane; the projection position of the robot gripper (x g (k),y g (k)) and the projection position of the target object (x o (k),y o (k)) As an important input;
[0031] 2) Image processing and target identification: ...
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