{"?xml":{"@version":"1.0"},"edm:RDF":{"@xmlns:dc":"http://purl.org/dc/elements/1.1/","@xmlns:edm":"http://www.europeana.eu/schemas/edm/","@xmlns:wgs84_pos":"http://www.w3.org/2003/01/geo/wgs84_pos","@xmlns:foaf":"http://xmlns.com/foaf/0.1/","@xmlns:rdaGr2":"http://rdvocab.info/ElementsGr2","@xmlns:oai":"http://www.openarchives.org/OAI/2.0/","@xmlns:owl":"http://www.w3.org/2002/07/owl#","@xmlns:rdf":"http://www.w3.org/1999/02/22-rdf-syntax-ns#","@xmlns:ore":"http://www.openarchives.org/ore/terms/","@xmlns:skos":"http://www.w3.org/2004/02/skos/core#","@xmlns:dcterms":"http://purl.org/dc/terms/","edm:WebResource":[{"@rdf:about":"http://www.dlib.si/stream/URN:NBN:SI:DOC-YNCZUARE/447f0184-163d-4f69-8bc0-c5c9619f74b4/HTML","dcterms:extent":"30 KB"},{"@rdf:about":"http://www.dlib.si/stream/URN:NBN:SI:DOC-YNCZUARE/1d92b8e5-b6d2-4517-92a5-f0cfd428df9a/PDF","dcterms:extent":"1006 KB"},{"@rdf:about":"http://www.dlib.si/stream/URN:NBN:SI:DOC-YNCZUARE/6a983534-2c57-41cf-a12d-03e1ea15d461/TEXT","dcterms:extent":"26 KB"}],"edm:TimeSpan":{"@rdf:about":"1999-2025","edm:begin":{"@xml:lang":"en","#text":"1999"},"edm:end":{"@xml:lang":"en","#text":"2025"}},"edm:ProvidedCHO":{"@rdf:about":"URN:NBN:SI:DOC-YNCZUARE","dcterms:isPartOf":[{"@rdf:resource":"https://www.dlib.si/details/URN:NBN:SI:spr-6QOUKQ9A"},{"@xml:lang":"sl","#text":"Strojniški vestnik"}],"dcterms:issued":"2008","dc:creator":["Brezočnik, Miran","Čas, Jure","Klobučar, Rok","Šafarič, Riko"],"dc:format":[{"@xml:lang":"sl","#text":"letnik:54"},{"@xml:lang":"sl","#text":"številka:9"},{"@xml:lang":"sl","#text":"9 strani"},{"@xml:lang":"sl","#text":"str. 619-627"}],"dc:identifier":["ISSN:0039-2480","COBISSID:12712214","URN:URN:NBN:SI:doc-YNCZUARE"],"dc:language":"en","dc:publisher":[{"@xml:lang":"sl","#text":"Association of Mechanical Engineers and Technicians of Slovenia et al."},{"@xml:lang":"sl","#text":"Zveza strojnih inženirjev in tehnikov Slovenije et al."}],"dc:subject":[{"@xml:lang":"sl","#text":"nevronske mreže"},{"@xml:lang":"sl","#text":"računalniški vid"},{"@xml:lang":"sl","#text":"roboti"},{"@xml:lang":"sl","#text":"robotika"},{"@rdf:resource":"http://www.wikidata.org/entity/Q844240"}],"dcterms:temporal":{"@rdf:resource":"1999-2025"},"dc:title":{"@xml:lang":"sl","#text":"Uncalibrated visual servo control with neural network|"},"dc:description":[{"@xml:lang":"sl","#text":"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"},{"@xml:lang":"sl","#text":"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"}],"edm:type":"TEXT","dc:type":[{"@xml:lang":"sl","#text":"znanstveno časopisje"},{"@xml:lang":"en","#text":"journals"},{"@rdf:resource":"http://www.wikidata.org/entity/Q361785"}]},"ore:Aggregation":{"@rdf:about":"http://www.dlib.si/?URN=URN:NBN:SI:DOC-YNCZUARE","edm:aggregatedCHO":{"@rdf:resource":"URN:NBN:SI:DOC-YNCZUARE"},"edm:isShownBy":{"@rdf:resource":"http://www.dlib.si/stream/URN:NBN:SI:DOC-YNCZUARE/1d92b8e5-b6d2-4517-92a5-f0cfd428df9a/PDF"},"edm:rights":{"@rdf:resource":"http://rightsstatements.org/vocab/InC/1.0/"},"edm:provider":"Slovenian National E-content Aggregator","edm:intermediateProvider":{"@xml:lang":"en","#text":"National and University Library of Slovenia"},"edm:dataProvider":{"@xml:lang":"sl","#text":"Univerza v Ljubljani, Fakulteta za strojništvo"},"edm:object":{"@rdf:resource":"http://www.dlib.si/streamdb/URN:NBN:SI:DOC-YNCZUARE/maxi/edm"},"edm:isShownAt":{"@rdf:resource":"http://www.dlib.si/details/URN:NBN:SI:DOC-YNCZUARE"}}}}