Uncalibrated eye-to-hand visual servoing using inverse fuzzy models
Type
article
Publisher
Identifier
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
Title
Uncalibrated eye-to-hand visual servoing using inverse fuzzy models
Subject
Fuzzy control
Fuzzy set theory
Manipulator kinematics
Robot vision
Visual servoing
Fuzzy modeling
Inverse fuzzy control
Fuzzy set theory
Manipulator kinematics
Robot vision
Visual servoing
Fuzzy modeling
Inverse fuzzy control
Relation
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
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
Date
2017-03-27T16:37:11Z
2017-03-27T16:37:11Z
2008-04-04
2017-03-27T16:37:11Z
2008-04-04
Description
(c) 2007 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.
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
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
Access restrictions
openAccess
http://creativecommons.org/licenses/by/4.0/
http://creativecommons.org/licenses/by/4.0/
Language
eng
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