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Authors: Paulo J. Sequeira Gonçalves 1 ; L. F. Mendonça 2 ; J. M. Sousa 2 and J. R. Caldas Pinto 2

Affiliations: 1 Escola Superior de Tecnologia de Castelo Branco, Portugal ; 2 Technical University of Lisbon, IDMEC / IST, Portugal

Keyword(s): visual servoing, robotic manipulators, inverse fuzzy control, fuzzy compensation, fuzzy modeling.

Related Ontology Subjects/Areas/Topics: Artificial Intelligence ; Computational Intelligence ; Fuzzy Control ; Fuzzy Systems ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mechatronic Systems ; Soft Computing

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 velocities 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. As the inversion is not exact, steady-state errors must be compensated. This paper proposes the use of a fuzzy compensator to deal with this problem. The control scheme contains an inverse fuzzy model and a fuzzy compensator, which are applied to a robotic manipulator performing visual servoing, for a given profile of image features velocities. The obtained 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.

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Paper citation in several formats:
Sequeira Gonçalves, P.; Mendonça, L.; Sousa, J. and Caldas Pinto, J. (2004). FUZZY MODEL BASED CONTROL APPLIED TO IMAGE-BASED VISUAL SERVOING. In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 972-8865-12-0; ISSN 2184-2809, pages 143-150. DOI: 10.5220/0001133201430150

@conference{icinco04,
author={Paulo J. {Sequeira Gon\c{C}alves}. and L. F. Mendon\c{C}a. and J. M. Sousa. and J. R. {Caldas Pinto}.},
title={FUZZY MODEL BASED CONTROL APPLIED TO IMAGE-BASED VISUAL SERVOING},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2004},
pages={143-150},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001133201430150},
isbn={972-8865-12-0},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - FUZZY MODEL BASED CONTROL APPLIED TO IMAGE-BASED VISUAL SERVOING
SN - 972-8865-12-0
IS - 2184-2809
AU - Sequeira Gonçalves, P.
AU - Mendonça, L.
AU - Sousa, J.
AU - Caldas Pinto, J.
PY - 2004
SP - 143
EP - 150
DO - 10.5220/0001133201430150