Abstract
This paper presents a distributed fuzzy propor-tional control system for a vision guided redundant robotmanipulator. Firstly, the Takagi Sugeno (TS) fuzzy algorithm isused to model analytical Image Based Visual Servoing (IBVS)using shape moments by offline learning. This control methodis applied to an uncalibrated robotic system with eye-in-handvisual feedback. The system is able to track a moving objectthrough a variety of motions and maintain the object’s imagefeatures in a desired position in the image plane without apriori knowledge of the robot kinematic, camera calibrationand inverse Jacobian. The experimental results of both staticand moving targets using the 7 DOF PowerCube manipulatorfrom Amtec Robotic show and verify its performance in a real-time application
| Original language | English |
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| Title of host publication | Unknown Host Publication |
| Publisher | IEEE Computer Society |
| Pages | 1902-1909 |
| Number of pages | 8 |
| ISBN (Print) | 978-1-4244-6920-8 |
| Publication status | Published (in print/issue) - 18 Jul 2010 |
| Event | FUZZ-IEEE 2010 - Barcelona Duration: 18 Jul 2010 → … |
Conference
| Conference | FUZZ-IEEE 2010 |
|---|---|
| Period | 18/07/10 → … |