GA-pattern matching-based manipulator control system for real-time visual servoing

Mamoru Minami, Julien Agbanhan, Toshiyuki Asakura

Research output: Contribution to journalArticlepeer-review

21 Citations (Scopus)


In robotic applications, tasks of picking and placing are the most fundamental ones. Also, for a robot manipulator, the recognition of its working environment is one of the most important issues to do intelligent tasks, since this aptitude enables it to work in a variableenvironment. This paper presents a new control strategy for robot manipulators, which utilizes visual information to direct the manipulator in its working space, to pick up an object of known shape, but with arbitrary position and orientation. During the search for an object to be picked up, vision-based control by closed-loop feedback, referred to as visual servoing, is performed to obtain the motion control of the manipulator hand. The system employs a genetic algorithm (GA) and a pattern matching technique to explore the search space and exploit the best solutions by this searchtechnique. The control strategy utilizes the found results of GA-pattern matching in every step of GA evolution to direct the manipulator towards the target object. We named this control strategy step-GA-evnlution. This control method can be applied for manipulator real-time visual servoingand solve its path planning problem in real-time, i.e. in order for the manipulator to adapt the execution of the task by visual information during the process execution. Simulations have been performed, using a two-link planar manipulator and three image models, in order to find which oneis the best for real-time visual servoing and the results show the effectiveness of the control method.

Original languageEnglish
Pages (from-to)711-734
Number of pages24
JournalAdvanced Robotics
Issue number7-8
Publication statusPublished - Jan 1 1997
Externally publishedYes


  • Manipulator
  • Motion control
  • Path planning
  • Real-time
  • Visual servoing

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications


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