Robot manipulator visual servoing based on image moments and improved firefly optimization algorithm-based extreme learning machine

Zhiyu Zhou; Junjie Wang; Zefei Zhu; Jingsong Xia

doi:10.1016/j.isatra.2023.10.010

Robot manipulator visual servoing based on image moments and improved firefly optimization algorithm-based extreme learning machine

ISA Trans. 2023 Dec:143:188-204. doi: 10.1016/j.isatra.2023.10.010. Epub 2023 Oct 18.

Authors

Zhiyu Zhou¹, Junjie Wang², Zefei Zhu³, Jingsong Xia²

Affiliations

¹ School of Information Science and Technology, Zhejiang Sci-Tech University, Hangzhou, China. Electronic address: zhouzhiyu1993@163.com.
² School of Information Science and Technology, Zhejiang Sci-Tech University, Hangzhou, China.
³ School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou, China.

PMID: 37867021
DOI: 10.1016/j.isatra.2023.10.010

Abstract

We propose an improved extreme learning machine (ELM) to solve the decoupling problem between the camera coordinates and the image moment features for robot manipulator image-based visual servoing system, that is, determine the nonlinear relationship between them. First, an improved firefly optimization algorithm (IFOA) based on an adaptive inertial weight and individual variations is proposed. Then, the IFOA is optimized the weight and hidden bias in ELM algorithm; this improves the training accuracy of the ELM. Finally, the improved firefly optimization algorithm is integrated into ELM (IFOA-ELM) to solve the decoupling problem and ensure stable performance. The results of experiment show that the estimated error of the rotation angle around the camera frame in the visual servoing system determined by the IFOA-ELM algorithm is less than 0.25°, confirming that the proposed algorithm exhibits good robustness and stability.

Keywords: Extreme learning machine; Firefly algorithm; Image moment; Image-based visual servoing; Robot manipulator.