Pregled bibliografske jedinice broj: 328225
Adaptive Neural Network (ANN) for Visual Servoing: the Mimetic Approach
Adaptive Neural Network (ANN) for Visual Servoing: the Mimetic Approach // International journal of circuits, systems and signal processing, 1 (2007), 3; 259-265 (podatak o recenziji nije dostupan, članak, znanstveni)
CROSBI ID: 328225 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Adaptive Neural Network (ANN) for Visual Servoing: the Mimetic Approach
Autori
Bonković, Mirjana ; Cecić, Mojmil ; Papić, Vladan
Izvornik
International journal of circuits, systems and signal processing (1998-4464) 1
(2007), 3;
259-265
Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni
Ključne riječi
Jacobian estimation; mimetic control; model-free control; robotics; visual servoing
(Jacobian estimation; mimetic control; model-free control; robotics; visual servoing;)
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
Projekti:
023-0232006-1655 - Biomehanika ljudskih pokreta, upravljanje i rehabilitacija (Zanchi, Vlasta, MZOS ) ( CroRIS)
023-0232006-1662 - Računalni vid u identifikaciji kinematike sportskih aktivnosti (Papić, Vladan, MZOS ) ( CroRIS)
177-0232006-1662 - Računalni vid u identifikaciji kinematike sportskih aktivnosti
Ustanove:
Fakultet elektrotehnike, strojarstva i brodogradnje, Split
