Iterative solution of nonlinear equations in several variables
Iterative solution of nonlinear equations in several variables
The Secant method for simultaneous nonlinear equations
Communications of the ACM
Visual Control of Robots: High-Performance Visual Serving
Visual Control of Robots: High-Performance Visual Serving
Solving Noisy, Large-Scale Fixed-Point Problems and Systems of Nonlinear Equations
Transportation Science
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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.