| Title: | Uncalibrated visual servo control with neural network |
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| Authors: | ID Klobučar, Rok (Author)
ID Čas, Jure (Author)
ID Šafarič, Riko (Author)
ID Brezočnik, Miran (Author) |
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| Files: |  http://www.dlib.si/details/URN:NBN:SI:doc-YNCZUARE
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| Language: | English |
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| Work type: | Not categorized |
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| Typology: | 1.01 - Original Scientific Article |
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| Organization: | FERI - Faculty of Electrical Engineering and Computer Science
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| Abstract: | Research into robotics visual servo systems is an important content in the robotics field. This paper describes a control approach for a robotics manipulator. In this paper, a multilayer feedforward network is applied to a robot visual servo control problem. The model uses new neural network architecture and a new algorithm for modifying neural connection strength. No a-prior knowledge is required of robot kinematics and camera calibration. The network is trained using an end-effector position. After training, performance is measured by having the network generate joint-angles for arbitrary end effector trajectories. A 2-degrees-of-freedom (DOF) parallel manipulator was used for the study. It was discovered that neural networks provide a simple and effective way of controlling robotic tasks. This paper explores the application of a neural network for approximating nonlinear transformation relating to the robotćs tip-position, from the image coordinates to its joint coordinates. Real experimental examples are given to illustrate the significance of this method. Experimental results are compared with a similar method called the Broyden method, for uncalibrated visual servo-control. |
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| Keywords: | robots, neural networks, visual servoing, parallel manipulators |
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| Publisher: | = Association of Mechanical Engineers and Technicians of Slovenia et al. |
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| Year of publishing: | 2008 |
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| Number of pages: | str. 619-627 |
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| Numbering: | Letn. 54, št. 9 |
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| PID: | 20.500.12556/DKUM-52680  |
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| UDC: | 681.5:007.52 |
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| ISSN on article: | 0039-2480 |
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| COBISS.SI-ID: | 12712214 |
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| NUK URN: | URN:SI:UM:DK:LQACCOLW |
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| Publication date in DKUM: | 10.07.2015 |
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| Views: | 2068 |
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| Downloads: | 118 |
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| Metadata: |    |
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| Categories: | Misc.
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