Fuzzy vs Nonfuzzy in 2D Visual Servoing for Robot Manipulators

In this paper we consider the tracking control problem of planar robots manipulators via visual servoing in the presence of parametric uncertainties associated with the robot dynamics and the camera parameters. An image–based visual servo control is developed using a Takagi–Sugeno (T–S) fuzzy model....

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Bibliographic Details
Published in:International journal of advanced robotic systems 2013-02, Vol.10 (2)
Main Authors: Bueno-López, Maximiliano, Arteaga-Pérez, Marco A.
Format: Article
Language:English
Subjects:
Algorithms
Compensation
Control algorithms
Controllers
Fuzzy logic
Fuzzy systems
Genetic algorithms
Kinematics
Manipulators
Parameter uncertainty
Robot arms
Robot control
Robot dynamics
Robots
Servocontrol
Tracking control
Visual control
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Summary:In this paper we consider the tracking control problem of planar robots manipulators via visual servoing in the presence of parametric uncertainties associated with the robot dynamics and the camera parameters. An image–based visual servo control is developed using a Takagi–Sugeno (T–S) fuzzy model. The design includes an image coordinate velocity observer. To the best knowledge of the authors such a proposal remains hitherto unpublished. The new scheme is compared experimentally with two different non–fuzzy algorithms showing the good performance and advantages of the complete system.
ISSN:1729-8806
1729-8814
DOI:10.5772/55593