A Digital Twin-Based Visual Servoing with Extreme Learning Machine and Differential Evolution

Algorithm 1

Framework of the proposed EA-ELM-IBVS.

	Input
	: the input training set, the size is
	: the output training set, the size is
	the input validation set, the size is
	: the output validation set, the size is
	Output
	: the camera cartesian space velocity
	Begin
	Normalized and in ;
	;
	;
	;
	fordo
	Output value of hidden layer ;
	Activation function ;
	Output weight matrix ;
	Output value of hidden layer ;
	Activation function
	;
	end for
	fordo
	;
	;
	;
	end for
	get optimal value based on ;
	Return;
	end