Abstract
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.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Espiau, B., Chaumette, F., Rives, P.: A new approach to visual servoing in robotics. IEEE Transactions on Robotics and Automation 8(3), 313–326 (1992)
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)
Gustafson, D.E., Kessel, W.C.: Fuzzy clustering with a fuzzy covariance matrix. In: Proceedings IEEE CDC, San Diego, USA, pp. 761–766 (1979)
Hutchinson, S., Hager, G., Corke, P.: A tutorial on visual servo control. IEEE Transactions on Robotics and Automation 12(5), 651–670 (1996)
Sousa, J.M., Silva, C., Sá da Costa, J.: Fuzzy active noise modeling and control. International Journal of Approximate Reasoning 33, 51–70 (2003)
Sousa, J.M.C., Kaymak, U.: Fuzzy Decision Making in Modeling and Control. World Scientific Pub. Co, Singapore (2002)
Suh, I., Kim, T.: Fuzzy membership function based neural networks with applications to the visual servoing of robot manipulators. IEEE Trans. on Fuzzy Systems 2(3), 203–220 (1994)
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)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2004 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Gonçalves, P.J.S., Mendonça, L.F., Sousa, J.M.C., Pinto, J.R.C. (2004). Image Recognition Applied to Robot Control Using Fuzzy Modeling. In: Campilho, A., Kamel, M. (eds) Image Analysis and Recognition. ICIAR 2004. Lecture Notes in Computer Science, vol 3211. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-30125-7_32
Download citation
DOI: https://doi.org/10.1007/978-3-540-30125-7_32
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-23223-0
Online ISBN: 978-3-540-30125-7
eBook Packages: Springer Book Archive