Uncalibrated eye-to-hand visual servoing using inverse fuzzy models

article

Gonçalves, P.J.S.
Mendonça, L.F.
Sousa, J.M.C.
Pinto, J.R.C.

IEEE

Gonçalves, P.J.S. [et al.] (2008) - Uncalibrated eye-to-hand visual servoing using inverse fuzzy models. IEEE Transactions on Fuzzy Systems. ISSN 1063-6706.16 (2) 341-353. Doi 10.1109/TFUZZ.2007.896226

1063-6706

10.1109/TFUZZ.2007.896226

Uncalibrated eye-to-hand visual servoing using inverse fuzzy models

Fuzzy control
Fuzzy set theory
Manipulator kinematics
Robot vision
Visual servoing
Fuzzy modeling
Inverse fuzzy control

Programa de Financiamento Plurianual de Unidades de I&D (POCTI) do Quadro Comunitário de Apoio III, by program FEDER
POCTI/EME/39946/ 2001 - VISUAL SERVOING SYSTEMS APPLIED TO RIGID AND FLEXIBLE ROBOT MANIPULATORS
Programa do FSE-UE, PRODEP III, acção 5.3, no âmbito do III Quadro Comunitário de apoio

2017-03-27T16:37:11Z
2017-03-27T16:37:11Z
2008-04-04

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A new uncalibrated eye-to-hand visual servoing based on inverse fuzzy modeling is proposed in this paper. In classical visual servoing, the Jacobian plays a decisive role in the convergence of the controller, as its analytical model depends on the selected image features. This Jacobian must also be inverted online. Fuzzy modeling is applied to obtain an inverse model of the mapping between image feature variations and joint velocities. This approach is independent from the robot's kinematic model or camera calibration and also avoids the necessity of inverting the Jacobian online. An inverse model is identified for the robot workspace, using measurement data of a robotic manipulator. This inverse model is directly used as a controller. The inverse fuzzy control scheme is applied to a robotic manipulator performing visual servoing for random positioning in the robot workspace. The obtained experimental results show the effectiveness of the proposed control scheme. The fuzzy controller can position the robotic manipulator at any point in the workspace with better accuracy than the classic visual servoing approach.
info:eu-repo/semantics/publishedVersion

openAccess
http://creativecommons.org/licenses/by/4.0/

eng