Nonlinear optimization methods for uncalibrated robot visual servoing (CROSBI ID 548002)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Bonković, Mirjana
engleski
Nonlinear optimization methods for uncalibrated robot visual servoing
This paper considers the uncalibrated, model free, robot visual servoing as a nonlinear optimization problem in which stochasticity is present due to a noise and there is no analytical form of the objective function. Such (robot) systems are suitable for unknown and unstructure envinronments due to minimal requirements related to calibration and robot kinematic’ s parameters. The numerical quasy-Newton methods offer a theoretical background for problem solving. However, additional attention has to be paid which assured stability and the robustness of the proposed method. In this paper we present the simulation results of various, well-known iterative numerical solution efficacy performing the dynamic target visual servoing. The results show that the generalized form of solutions perform better than the simple form adopted for a specific type of a goal functions.
visual servoing; uncalibrated system; robot control; nonlinear optimization; generalized solutions
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
Podaci o prilogu
146-151.
2009.
objavljeno
Podaci o matičnoj publikaciji
Recent Advances in Automation and Information
Mastorakis, Nikos ; Croitoru, Anca ;
Prag: WSEAS Press
978-960-474-064-2
1790-5117
Podaci o skupu
International Conference on Automation & Information
ostalo
23.03.2009-25.03.2009
Prag, Češka Republika