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Title:Uncalibrated visual servo control with neural network
Authors:ID Klobučar, Rok (Author)
ID Čas, Jure (Author)
ID Šafarič, Riko (Author)
ID Brezočnik, Miran (Author)
Files:URL http://www.dlib.si/details/URN:NBN:SI:doc-YNCZUARE
 
Language:English
Work type:Not categorized
Typology:1.01 - Original Scientific Article
Organization:FERI - Faculty of Electrical Engineering and Computer Science
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.
Keywords:robots, neural networks, visual servoing, parallel manipulators
Publisher:= Association of Mechanical Engineers and Technicians of Slovenia et al.
Year of publishing:2008
Number of pages:str. 619-627
Numbering:Letn. 54, št. 9
PID:20.500.12556/DKUM-52680 New window
UDC:681.5:007.52
ISSN on article:0039-2480
COBISS.SI-ID:12712214 New window
NUK URN:URN:SI:UM:DK:LQACCOLW
Publication date in DKUM:10.07.2015
Views:1836
Downloads:114
Metadata:XML DC-XML DC-RDF
Categories:Misc.
:
KLOBUČAR, Rok, ČAS, Jure, ŠAFARIČ, Riko and BREZOČNIK, Miran, 2008, Uncalibrated visual servo control with neural network. Strojniški vestnik [online]. 2008. Vol. 54, no. 9, p. 619–627. [Accessed 22 March 2025]. Retrieved from: http://www.dlib.si/details/URN:NBN:SI:doc-YNCZUARE
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Record is a part of a journal

Title:Strojniški vestnik
Shortened title:Stroj. vestn.
Publisher:Zveza strojnih inženirjev in tehnikov Slovenije [etc.], = Association of Mechanical Engineers and Technicians of Slovenia [etc.]
ISSN:0039-2480
COBISS.SI-ID:762116 New window

Secondary language

Language:Slovenian
Title:Vodenje robota s pomočjo računalniškega vida in nevronske mreže
Abstract:Raziskave s področja vodenja robota s pomočjo računalniškega vida so zelo pomembne. V prispevku je opisano vodenje robotskega manipulatorja. Za vodenje s pomočjo umetnega vida je uporabljena polno povezana usmerjena nevronska mreža. Uporabljena je povsem nova arhitektura nevronske mreže in nov algoritem nevronske mreže. Natančno poznavanje kinematike robota in kalibracija kamere nista potrebna. Nevronska mreža se uči s pomočjo vrha robota. Po učenju smo testirali natančnost nevronske mreže. Nevronska mreža je morala generirati notranje koordinate glede na zunanjo trajektorijo. Eksperiment je bil izveden na paralelnem manipulatorju z dvema prostostnima stopnjama. Pokazali smo, da lahko s pomočjo takšne arhitekture nevronske mreže robota opravlja zadane naloge. V prispevku je predstavljena uporaba nevronske mreže za ocenitev nelinearne transformacije med vrhom robota v sliki in notranjih koordinat. Eksperimentalni primeri potrjujejo zanesljivost predlagane metode. Eksperimentalne rezultate smo primerjali s podobno metodo, imenovano Broydenova metoda za nekalibrirano vodenje robota s pomočjo umetnega vida.
Keywords:robotika, roboti, nevronske mreže, računalniški vid, paralelni manipulatorji, vizualizacijski servo sistemi


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