Image Recognition Applied to Robot Control Using Fuzzy Modeling
A new approach to eye-in-hand image-based visual servoing based on fuzzy modeling and control is proposed in this paper. Fuzzy modeling is applied to obtain an inverse model of the mapping between image features errors and joints velocities, avoiding the necessity of inverting the Jacobian. An inverse model is identified for each trajectory using measurements data of a robotic manipulator, and it is directly used as a controller. The control scheme contains an inverse fuzzy model, which is applied to a robotic manipulator performing visual servoing, for a given profile of image features errors. The obtained experimental results show the effectiveness of the proposed control scheme: the fuzzy controller can follow a point-to-point pre-defined trajectory faster (or smoother) than the classic approach.
KeywordsFuzzy Modeling Fuzzy Controller Fuzzy Cluster Inverse Model Joint Position
Unable to display preview. Download preview PDF.
- 2.Gonçalves, P.S., Pinto, J.C.: Camera configurations of a visual servoing setup, for a 2 dof planar robot. In: Proceedings of the 7th International IFAC Symposium on Robot Control, Wroclaw, Poland, September 2003, pp. 181–187 (2003)Google Scholar
- 3.Gustafson, D.E., Kessel, W.C.: Fuzzy clustering with a fuzzy covariance matrix. In: Proceedings IEEE CDC, San Diego, USA, pp. 761–766 (1979)Google Scholar
- 8.Tahri, O., Chaumette, F.: Application of moment invariants to visual servoing. In: Proc.of the IEEE Int. Conf. on Robotics and Automation, Taipeh, Taiwan, pp. 4276–4281 (2003)Google Scholar