Naslov
Mimetic Visual Servoing with Adaptive Neural Network (ANN)

Autori
Bonković, Mirjana ; Cecić, Mojmil ; Papić, Vladan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Challenges in Remote Sensing, Proceedings of 3rd WSEAS International Conference on Remote Sensing (REMOTE '07) / Zanchi, Vlasta ; Revetria, Roberto ; Cecchi, Antonella ; Schenone, Maurizio ; Zemliak, Alexander, - Venecija : WSEAS Press, 2007, 87-92

ISBN
978-960-6766-17-6

Skup
WSEAS International Conference on Remote Sensing (REMOTE '07)

Mjesto i datum
Venecija, Italija, 21.11.2007. - 23.11.2007

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
robotics; mimetic control; visual servoing; Jacobian estimation; modell-free control

Sažetak
In this paper we present a model free hybrid visual servoing system. The "model free" term refers to the system with the unknown kinematics model that has to be estimated on-line, while "hybrid" specifies the visual controller architecture. The proposed system has a conventional Jacobian estimation part necessary for control output generation and it is supplemented with an additional adaptive neural network (ANN). It is shown that ANN could be used to improve the visual servoing performances of the conventional visual servoing controller, as well as to enable the mimetic control of the robot which dynamics differs from the robot which it mimics.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA