Mimetic Visual Servoing with Adaptive Neural Network (ANN) (CROSBI ID 531365)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Bonković, Mirjana ; Cecić, Mojmil ; Papić, Vladan
engleski
Mimetic Visual Servoing with Adaptive Neural Network (ANN)
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.
robotics; mimetic control; visual servoing; Jacobian estimation; modell-free control
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Podaci o prilogu
87-92-x.
2007.
objavljeno
Podaci o matičnoj publikaciji
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
978-960-6766-17-6
Podaci o skupu
WSEAS International Conference on Remote Sensing (REMOTE '07)
predavanje
21.11.2007-23.11.2007
Venecija, Italija