Uncalibrated Eye-to-Hand Visual Servoing Using Inverse Fuzzy Models

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...

Full description

Saved in:
Bibliographic Details
Published in:IEEE transactions on fuzzy systems 2008-04, Vol.16 (2), p.341-353
Main Authors: Goncalves, P.J.S., Mendonca, L.F., Sousa, J.M.C., Pinto, J.R.C.
Format: Article
Language:English
Subjects:
Analytical models
Cameras
Convergence
Fuzzy
Fuzzy control
Fuzzy modeling
Fuzzy set theory
Inverse
inverse fuzzy control
Inverse problems
Jacobian matrices
Jacobians
Manipulators
Robot kinematics
Robot vision systems
robotic manipulators
Robotics
Robots
Studies
Visual
Visual servoing
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary: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.
ISSN:1063-6706
1941-0034
DOI:10.1109/TFUZZ.2007.896226