Jezik: | Slovenski jezik |
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Leto izida: | 2008 |
Izvor: | [Maribor |
Tipologija: | 2.08 - Doktorska disertacija |
Organizacija: | UM FERI - Fakulteta za elektrotehniko, računalništvo in informatiko |
Založnik: | R. Klobučar] |
UDK: | 681.532.1(043.3) |
COBISS: | 243113984 |
Št. ogledov: | 3421 |
Št. prenosov: | 334 |
Ocena: | 0 (0 glasov) |
Metapodatki: |
Sekundarni jezik: | Angleški jezik |
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Sekundarni naslov: | Uncalibrated visual servo control |
Sekundarni povzetek: | Research into robotics visual servo systems is an important content in the robotics field. This dissertation describes a control approach for a robotics manipulator. In this dissertation, 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 disertation explores the application of a neural network for approximating nonlinear transformation relating to the robot's 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. |
Sekundarne ključne besede: | robots;computer vision;visual servoing;feedforward neural network; |
URN: | URN:SI:UM: |
Vrsta dela (COBISS): | Doktorska disertacija |
Komentar na gradivo: | Univ. v Mariboru, Fak. za strojništvo |
Strani: | XVIII, 112 f. |
Ključne besede (UDK): | applied sciences;medicine;technology;uporabne znanosti;medicina;tehnika;industries;crafts and trades for finished or assembled articles;industrije;obrti in rokodelstva za sestavljanje in dodelavo izdelkov;precision mechanisms and instruments;fina mehanika in instrumenti;automatic control technology;smart technology;avtomatska kontrola;inteligentni sistemi; |
ID: | 985488 |