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Pregled bibliografske jedinice broj: 394636

Zbornik radova

Autori: Bonković, Mirjana
Naslov: Nonlinear optimization methods for uncalibrated robot visual servoing
Izvornik: Recent Advances in Automation and Information / Mastorakis, Nikos ; Croitoru, Anca ; (ur.). - Prague : WSEAS Press , 2009. 146-151 (ISBN: 978-960-474-064-2).
ISSN: 1790-5117
Skup: International Conference on Automation & Information
Mjesto i datum: Prag, Češka, 23-25.03.2009.
Ključne riječi: visual servoing; uncalibrated system; robot control; nonlinear optimization; generalized solutions
Sažetak:
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.
Vrsta sudjelovanja: Plenarno
Vrsta prezentacije u zborniku: Ostalo
Vrsta recenzije: Međunarodna recenzija
Projekt / tema: 023-0232005-2003
Izvorni jezik: ENG
Kategorija: Znanstveni
Znanstvena područja:
Elektrotehnika,Računarstvo
Puni text rada: 394636.ICIA09_plenary_bonkovic.pdf (tekst priložen 27. Svi. 2009. u 20:40 sati)
Upisao u CROSBI: mirjana@fesb.hr (mirjana@fesb.hr), 27. Svi. 2009. u 20:40 sati



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